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The dorsal column pathways
To remember which one of them for which limb

Gracilis, just remember Gastrocnemius so the fasciculus gracilis is for the lower limbs. the other is of course for the upper limbs.

Which one is medial and which one is located laterally in the spinal cord?

Just like the human upright position the lower limbs (gracilis) are medial to the upper limbs (cuneatus) :)

Also don't forget that the cuneatus will not be seen in spinal cord sections below T5 level, obviously u don't have upper limbs down there!
 
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