Toe Motor

Cassie Kinematic Model

Rigid Bodies on Cassie

--- Pelvis --- Yaw --- Hip --- Thigh --- Knee --- Shin --- Tarsus --- Toe ---
--- Knee Spring --- Heel Spring --- Toe Output Crank --- Plantar Rod --- Achilles Rod ---

Motors in Cassie

--- Abduction/Yaw Motors --- Hip/Knee Motors --- Toe Motor ---

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Toe Motor Specs

ROM = -140 to -35 deg
Gear ratio = 50:1 speed reduction
Max motor torque = 0.9 N-m
Max motor speed = 5500 rpm
Motor shaft inertia = 4.9 kg.mm^2

Locations

Toe Motor connects Tarsus to Toe Output Crank
Controls angle of Toe via Plantar Rod