Table 1 Angles of motion of the hip and knee joints in the walking and running states.

From: Lower limb intelligent rehabilitation robot based on human-gait coupling, spatiotemporal gait sensing, and fuzzy PID control

Join

Motion status

Flexion angle range

Extension angle range

Abduction/ Adduction angle range

Internal/External rotation angle range

Hip joint

Walking

30°~45°

0°~15°

0°~5°

0°~5°

Running

45°~60°

0°~20°

5°~15°

5°~15°

Knee

Walking

60°~70°

0°~5°

Not significant (<5°)

Not significant (<5°)

Running

70°~90°

0°~10°

Not significant (<5°)

Not significant (<5°)