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briandmyers · 3202 days ago · link · · parent · post: Hubski, what's an original idea you've had but have never had the chance to share it?
The leg-joints solution you've described is pretty-much exactly how it's done in the Rex exoskeleton (I worked there a few years back).
The actuator motors push and pull like muscles do - 10 in all, 2x2 for upper leg, 2x2 for lower leg, and another pair near the hip for lateral motion. The motors were made by the same crowd that made the motors for the Mars rovers. Hydraulic power is out, due to risk of hot fluid / patient proximity, so it's all-electric. No actuator wires though (motors were directly connected to the skeleton), there were enough problems with system-slack as it was; wires would make the problem worse (it's critical to know physical leg position pretty exactly).