therealsystem,whichwillbepowerdbyakWdieselengine.Fortestswithaninsufficienthydraulicflow,asecondsetoffourhydrauliccylinders(asusedtomoveoneleg)ismountedonthefloornexttotheteststand.Anopticalfieldbusforthetransferofthesensorandactuatordatabetweentheteststandandthecontrolcomputer(withreal-timeoperatingsystem)isalsoinstalled.Thehydrauliccylindersincludepositionandpressuresensorsthatareusedascontrollerinputs.Thusdynamictestscanbecarriedouttoexaminetheco-operationbetweenthemechanicalandhydrauliccomponentsandtheelectroniccontrolsystem.Thehipplateoftheexperimentalset-upismountedonapairoflinearbearings,andthusismobileinverticaldirection.Whencombinedwiththefoot,asshowninFig.,orthepassivewheelusedonthehindlegofthecombinedleggedandwheeledsystem,thisallowsloadingtestsonthelegwhileperformingwalkingmotions.Mechanicalstopsbelowthehipplateallowthefoottobeliftedintheswingphaseofthewalkingmotion.Thefirst(unloaded)testshaveshownthemobi,还是在腿和轮结合系统中用轮子装在两只后脚上,当步行运动进行时在其腿上测试都将被