ATRIAS 2.1 Handbook/Technical Specifications/Solid Model Specifications/Leg Range of Motion

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Leg Angle Limits[edit]

Minimum Maximum
Actuator Output

(forward and backward thighs)

-45° +107.5°
Leg Length +34.5° +160°
Spring Deflection -15° Extension +35° Compression
Hip -10° Adduction

Toes togehter

+20° Abduction

Toes spread apart

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