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Have you tried doing squats using the Smith machine in the gym? I have a problem with one knee and that combined with awful balance made free squats impossible. The Smith machine allows you to put your feet forward so that you squat to a right angle but you can also lean back into the bar (because it's on a track). This is also similar to using a gym ball at your back and moving it up and down a wall. These are both ok for me. Try googling squats and there will be examples.
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