New solution of ankle: Motor + spring

[Matthieu]

@Alexandre

Your solution doesn’t allow the frontal rotation, max 5° maybe so we need 30°.

Yep some dimensions need to be changed

@Alexandre

Else, the rubber matérial is a good matrial but it’s impossible to control the properties (temperature, humidy…).

It is why it is just here as a damper and there are springs in parallel (on the chalkboard picture, not on the CAO).