![](https://nereus.mech.ntua.gr/legged/wp-content/uploads/2020/11/actuation-unit-1024x768.jpg)
New Actuation Unit
The new actuation unit is the cornerstone of the leg prototype. It was designed and manufactured in-house using both off-the-shelf and custom parts. The actuation unit consists of an outrunner brushless DC motor, a single stage planetary gearhead and an encoder.
![](https://nereus.mech.ntua.gr/legged/wp-content/uploads/2020/11/new-leg-e1606312406871-868x1024.jpg)
Leg Design
Testing Leg Prototype
![](https://nereus.mech.ntua.gr/legged/wp-content/uploads/2022/10/actuation-unit-thermal-testing.jpg)
Thermal tests of the new actuation unit