Single-Actuator-Based Lower-Limb Soft Exoskeleton for Preswing Gait Assistance

Table 1

Physical parameters of the human legs [23].

Thigh		Calf		Foot
	41 cm		41 cm		20 cm
	7.7 kg		3.1 kg		0.8 kg
	1093 kg/cm^2		406 kg/cm^2		31 kg/cm^2
CM to “”	44% of	CM to “”	40% of	CM to “”	25% of