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This study provides recommendations for scientifically sound methods of evaluating compliance of wireless power transfer systems with respect to human electromagnetic exposure limits. Methods for both numerical analysis and measurements are discussed. An exposure assessment of a representative wireless power transfer system, under a limited set of operating conditions, is provided in order to estimate the maximum SAR levels. The system operates at low MHz frequencies and it achieves power transfer via near field coupling between two resonant coils located within a few meters of each other. Numerical modeling of the system next to each of four high-resolution anatomical models shows that the local and whole-body SAR limits are generally reached when the transmit coil currents are 0.5 ARMS - 1.2 ARMS at 8 MHz for the maximal-exposure orientation of the coil and 10-mm distance to the body. For the same coil configurations, the exposure can vary by more than 3 dB for different human models. A simplified experimental setup for the exposure evaluation of wireless power transfer systems is also described.