Starboard Thigh

1. Main Brain/ CAN Router Motor Controller Feet Outer O. Foot Motor Term RC Receiver UI Board IMU Starboard Thigh Top Bar 6-Wire CAN 1-2 Limit Switch OL Heel Strike OL 6-Wire CAN 1-2 6-Wire CAN 3-4 PWR Term Hip Encoder 9-Wire RS232 RS232 2 Wire Limit Switch OR 6-Wire Foot OR Encoder 6-Wire CAN 3-4 3- Wire Heel Strike OR Leg

2. I. Foot Motor Middle Thigh Top Data Top PWR CAN 3-4 in Term BATT + GND 6-wire Motor Encoder I. Feet SYS + (switch) 2-wire Motor Power Motor Controller Feet Inner 6-wire Encoder I. Feet 2-wire Limit Switch IR 2-wire Limit Switch IL 3-wire Heel Strike IR 3-wire Heel Strike IL Leg

3. Hip Motor PortThigh Top Data PWR -+ 6-wire CAN 1-2 Limit Switch OL Heel Strike OL 6-wire Hip Encoder 6-wire CAN 3-4 out 6-wire CAN 3-4 in 6-wire Motor Encoder Hip 2-wire Motor Power Motor Controller Steering Term Motor Controller Hip 2-wire Motor Power 3-wire Pot. Feedback 6-wire Foot OL Encoder Steer Motor Steer Pot. Leg

4. Top Bar Mid PWR CHG+ GHG- PWR I+ PWR I- PWR O+ PWR O- GND PWR Switch Limit Switch OL Heel Strike OL 6-wire Hip Encoder 6-Wire CAN 1-2 6-Wire CAN 1-2 6-Wire CAN 3-4 6-Wire CAN 3-4 in 6-Wire CAN 3-4 out Brain Thigh Middle Thigh Hip Thigh