We have completed a major hardware and electronics upgrade. Mechanically, the foot plates and the ankles are a lot stiffer and we are controlling the ankle joints in a stiffer position control mode. We also locked up the pelvis side-to-side bending motion. As a result, Mark is a lot more stable. He can stand without holding on.
We now have a lot of training and tuning to do in the next 27 days.
