Robotic Exoskeleton Foot with Powered Toe

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The toe joint's speed and torque demands were calculated using data from biomedical labs. A DC motor with a planetary gearbox and timing belt was selected, providing 20 Nm of torque and 30 RPM of speed. In-house machining was utilized for the structure, while a hardstop and limit switch controlled the range of motion. Force sensors on the sole were mounted to detect foot and toe load distribution.