Figure 3

Simplified drawing of the cable-driven mechanism. Points A, B, and C are the interaction points between the cable (orange) and the carbon fiber plate. The cable tensions produced by the right motor ${\mathrm{T}}_{\stackrel{\rightharpoonup }{\mathrm{R}\mathrm{F}}}$ and ${\mathrm{T}}_{\stackrel{\rightharpoonup }{\mathrm{R}\mathrm{B}}}$ for the front and back of the foot respectively, and the cable tensions produced by the left motor ${\mathrm{T}}_{\stackrel{\rightharpoonup }{\mathrm{L}\mathrm{F}}}$ and ${\mathrm{T}}_{\stackrel{\rightharpoonup }{\mathrm{L}\mathrm{B}}}$ for the front and back of the foot, respectively, are shown. The shin and other components are not shown for simplicity.