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Descripción: “...Based on the fact that the stability of a four-bar knee during load-bearing is determined by the location of the instantaneous center of rotation (ICR) with respect to the ground reaction force (GRF) vector, a computational platform was developed to simulate the movement of the leg, the GRF vector and the position of the ICR of the mechanism. On one hand, a gait analysis was carried out on a subject with unilateral transfemoral amputation, from which the GRF, the knee flexion-extension angle and the kinematics of the lower limbs were determined. ...”