The most advocated schemes of comfort perception have proposed an objective method to evaluate “effects in the internal body” and “perceived effects”—the state of the art for comfort/discomfort evaluation. Postural comfort is one aspect of comfort/discomfort perception, and this current work adds to existing knowledge toward a more objectified posture evaluation for comfort. The authors have used the concept of Range of Rest Posture (RRP), as proposed by Apostolico et al. [1], useful for comfort evaluation. The study focused on the identification of RRP within the Comfort Range of Motion (CROM) for these human joints in the lower limbs: hip, knee, and ankle. The proposed method is based on extensive experimental work involving 114 healthy i...