# Homotopy Directed Optimization to Design a Six-Bar Linkage for a Lower Limb With a Natural Ankle Trajectory

> Research article (Journal of Mechanisms and Robotics, 2016) · cited 45× · AI/ML

**Wikidata**: [openalex:W1478035173](https://www.wikidata.org/wiki/openalex:W1478035173)  
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