The desire to improve the living conditions of human beings on a personal and social scale has been a constant motivation for the development and implementation of new technologies. In the pre-industrial eras such tecnologies were limited to containing natural disasters and the inconsistent small scale production of consumer goods.With the offset of the age of industrial revolutions, new technological oportunities have become available. From such oportunities, the capacity to complement the human body with technologies capable of reducing the impact of loss of mobility induced by age or other causes, or that allow the user to act in ways previously unseen justify the development of such a technological process. This work aims to model a human lower limb as a robotic arm analog through the Denavit-Hartenberg parameters. This model is then used to quantify e evaluate the cinematic and dynamic behavior of a human leg in the complete human gait cycle. This cycle is mapped in regards to the cartesian coordinates of it s lower extremity, the tip of the foot, and in regards to the angular position of each of it s joints, in a common plain of reference. Through this mapping, control concepts are employed to evalute the power needs of a powered orthosis that seeks to emulate the complete human cycle, and from this evaluatin the establishment of minimum specifications for the necessary components.