The complete demonstrator consists of different parts, which are the frame with actuation box, the leg and the Bowden cable, to connect both of them.

Firstly, the selected technology for each one of these parts will be introduced. Secondly, the design of them will be described.

Because of its mass, the actuation box, which contains the mechanical elements to simulate a body muscle, is not integrated in the mechanical leg. This design is less realistic, but it allows the actua- tor to be less powerful. The complete demonstrator is scaled 1:2, so that the requirement to fit on a standard desk can be fulfilled. The power transmission from the actuation box to the leg is realized by a Bowden cable, which will be better specified in the next chapter. The whole demonstrator is shown in figure 1.

<imgcaption image1|Demonstrator> </imgcaption>

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