http://brinkthegame.com/features/freedom/
Crysis made their mistake. They weren't focusing on the same core gameplay that Brink is. Crysis was focusing on they're fancy suit. Brink is focusing on customize your guy, go anywhere, always moving, always shooting.
The thing is, Splash Damage is not looking at other FPS games to figure out how to make Brink. Brink is entirely a creation of it's own. To compare it to any other game is to ask why you have to peel an orange but not an apple.
Actually Crysis, and Far Cry in a less extreme state, focus on free roaming easily in a sandbox environment very quickly while always being able to shoot. Comparing Brink and Crysis on this basis, while the systems used are dramatically different, are very similar. The comparison (beyond the staples of modern FPS like ADS) doesn't go on beyond that, considering that Brink focuses on this Teamplay ideal. I would say that one is a orange and and another is a lemon, both citrus fruit but different elements focused. (I have no idea where I'm going with the fruit comparison).
On terms of legs. I understand difficulty of processing customized legs is a little more difficult now. Halo has your color and armor attachments visible. This is kind of expected, if you really really observe Halo, you can see that there are a lot of technical feats with all the details, so this is somewhat expected. Even saying that, however this may be not as amazing, because what it mostly is, is that they have a male, female, and elite model and have all the pieces added on separately from the entire model (think of it being glued on rather creating a new model).