4 Encoders
2 Current Sensors
2 Inertial Measurement Units
1 Load cell
1 Raspberry Pi
Easy to sense,
program,
and control.
Upto
145 Nm
of peak instantaneous torque at both knee and ankle.
Supports a variety of sensors and actuators via
SPI, UART, I2C, & USB
communication protocols.
Safety is a priority, with built-in
Battery I2t, Motor I2t, & Voltage Limits
to protect the user and the system.
The Open-Source Leg is a
Self Contained
system with all the necessary electronics embedded.
Less than
0.045°
of backlash at both knee and ankle joints.
Supports
Voltage, Current, Position, & Impedance
control modes for both knee and ankle joints.
Supports
Python, C/C++, & MATLAB
programming languages for development.
Datasheets