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

Middle Thigh Top PWR Term I. Foot Motor Motor Controller Feet Inner Top Data BATT + GND SYS + (switch) Top PWR CAN 3-4 in Term I. Foot Motor 6-wire Motor Encoder I. Feet 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

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

Top Bar Mid PWR Brain Thigh Middle Thigh Hip Thigh CHG+ GHG- PWR I+ PWR I- PWR O+ PWR O- Mid PWR 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