- Actuators - the actuators are Shadow 30mm Air-muscles, a development of the McKibben artificial muscle.
- Material - white acetal plate.
- Control System - the leg was fitted with that as used by the Shadow Hand.
All joints are fitted with potentiometers for positional feedback;
the air delivery system monitors the pressure in each muscle;
from these the working loads on the leg can be calculated.
- Speed - the movement is comparable to normal human walking in a domestic environment.
- Strength - The leg is capable of supporting a 1Kg payload at the ankle throughout all its movement range.
- Use - The leg was designed to hang from a frame and mimic the movements of a human control leg.
- The Prototype, shows the range of movements of the leg.
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