# Hardware **URL:** https://opensourceleg.discourse.group/c/help/hardware/5.md [Latest](https://opensourceleg.discourse.group/latest.md) · [Categories](https://opensourceleg.discourse.group/categories.md) --- ## [Hardware Builds & Questions](https://opensourceleg.discourse.group/t/hardware-builds-questions/11)
**Author:** [@OSL\_Admin](https://opensourceleg.discourse.group/u/OSL_Admin)\ **Replies:** 2\ **Last updated:** [May 15, 2026, 6:18pm UTC](https://opensourceleg.discourse.group/t/hardware-builds-questions/11 "2026-05-15T18:18:49Z")
Use this space for questions and troubleshooting related to the OSL’s mechanical and structural components. When posting, please include: Which version of the OSL you’re using (v1, v2, custom) A brief description of t… --- ## [Cooling solution](https://opensourceleg.discourse.group/t/cooling-solution/221)
**Author:** [@malizade](https://opensourceleg.discourse.group/u/malizade)\ **Replies:** 14\ **Last updated:** [October 9, 2026, 3:44pm UTC](https://opensourceleg.discourse.group/t/cooling-solution/221 "2026-10-09T15:44:37Z")
Hi. I was wondering what cooling solution you use for the Raspberry Pi 5/CM5? When running my control code, CPU usage is between 70-80%, and the temperature is 80-86 C. The system flags indicate throttling due to reach… --- ## [Alternative bearings](https://opensourceleg.discourse.group/t/alternative-bearings/251)
**Author:** [@feldk066](https://opensourceleg.discourse.group/u/feldk066)\ **Replies:** 0\ **Last updated:** [September 4, 2026, 12:58pm UTC](https://opensourceleg.discourse.group/t/alternative-bearings/251 "2026-09-04T12:58:08Z")
Hello, We’re looking to find a couple replacement ball bearings as some of ours got damaged. Has anyone found cheaper alternatives than McMaster or Motion Industries to source these parts, and if so what your experienc… --- ## [Housing for AS5048B encoder](https://opensourceleg.discourse.group/t/housing-for-as5048b-encoder/242)
**Author:** [@malizade](https://opensourceleg.discourse.group/u/malizade)\ **Replies:** 4\ **Last updated:** [August 14, 2026, 7:08pm UTC](https://opensourceleg.discourse.group/t/housing-for-as5048b-encoder/242 "2026-08-14T19:08:12Z")
Hi. In our setup, the default output encoder mount is used for mounting the Dephy AK7452 encoder board. It is part p\_b0303\_encoderHousing in the assembly (shown in the photo for the knee joint). Because we’re plannin… --- ## [Old Battery Case File](https://opensourceleg.discourse.group/t/old-battery-case-file/240)
**Author:** [@jpalacio06](https://opensourceleg.discourse.group/u/jpalacio06)\ **Replies:** 2\ **Last updated:** [August 5, 2026, 5:21pm UTC](https://opensourceleg.discourse.group/t/old-battery-case-file/240 "2026-08-05T17:21:24Z")
Hi. I was looking for the model of the knee battery case and noticed there was a new model. Is the file for the old model available? --- ## [Timing belt specs](https://opensourceleg.discourse.group/t/timing-belt-specs/234)
**Author:** [@cangelid](https://opensourceleg.discourse.group/u/cangelid)\ **Replies:** 2\ **Last updated:** [July 8, 2026, 7:55pm UTC](https://opensourceleg.discourse.group/t/timing-belt-specs/234 "2026-07-08T19:55:56Z")
Hi everyone, I’m looking to replace the timing belts on the OSL. When looking at the BOM for both the knee and ankle, I noticed there are two different codes listed: GT3-5mm-325mm-belt (5mm pitch, 325mm length) GT… --- ## [Experimental flat foot](https://opensourceleg.discourse.group/t/experimental-flat-foot/228)
**Author:** [@tadeo.casiraghi](https://opensourceleg.discourse.group/u/tadeo.casiraghi)\ **Replies:** 1\ **Last updated:** [July 8, 2026, 4:12pm UTC](https://opensourceleg.discourse.group/t/experimental-flat-foot/228 "2026-07-08T16:12:48Z")
Hello everyone, We’re currently working on building a local functional approximation of the Open Source Leg flat foot due to budget constraints. I’ve searched through the University of Michigan OSL website and repositor… --- ## [Variflex variants or flat foot](https://opensourceleg.discourse.group/t/variflex-variants-or-flat-foot/201)
**Author:** [@tadeo.casiraghi](https://opensourceleg.discourse.group/u/tadeo.casiraghi)\ **Replies:** 0\ **Last updated:** [April 1, 2026, 7:27pm UTC](https://opensourceleg.discourse.group/t/variflex-variants-or-flat-foot/201 "2026-04-01T19:27:26Z")
Hi everyone, I’ve been looking into the Onshape design that uses the Össur Vari-Flex LP foot, and I had a few questions I’m hoping someone here might be able to clarify: What size of the Össur Vari-Flex LP foot is us… --- ## [Loadcell measurement spikes](https://opensourceleg.discourse.group/t/loadcell-measurement-spikes/196)
**Author:** [@malizade](https://opensourceleg.discourse.group/u/malizade)\ **Replies:** 3\ **Last updated:** [March 31, 2026, 5:18pm UTC](https://opensourceleg.discourse.group/t/loadcell-measurement-spikes/196 "2026-03-31T17:18:58Z")
Hi. The OSL is mounted on a test setup. I obtain the loadcell readings through the Dephy motor. In this test, I pushed the shank segment in three directions at the joint limit. The corresponding changes are clear in the… --- ## [Dephy motors don’t track the commanded](https://opensourceleg.discourse.group/t/dephy-motors-don-t-track-the-commanded/197)
**Author:** [@porteparlevent](https://opensourceleg.discourse.group/u/porteparlevent)\ **Replies:** 0\ **Last updated:** [March 16, 2026, 2:01pm UTC](https://opensourceleg.discourse.group/t/dephy-motors-don-t-track-the-commanded/197 "2026-03-16T14:01:33Z")
Hi everyone, I am testing control with OSL. The issue I have is the measured torques don’t match the commanded torques with the Dephy motor in both loaded and unloaded condition. In the loaded condition, I tested a con… --- ## [Fz loadcell spikes and calibration issue](https://opensourceleg.discourse.group/t/fz-loadcell-spikes-and-calibration-issue/191)
**Author:** [@mioki](https://opensourceleg.discourse.group/u/mioki)\ **Replies:** 1\ **Last updated:** [February 25, 2026, 4:18pm UTC](https://opensourceleg.discourse.group/t/fz-loadcell-spikes-and-calibration-issue/191 "2026-02-25T16:18:50Z")
Hi all, I’m a graduate student using the OSL v2 with the Dephy loadcell amplifier for a prosthetic leg control project. I’m the 4-state FSM impedance controller for walking (e\_stance → l\_stance → e\_swing → l\_swing) and … --- ## [“Cannot set motor position in mode c\_int(1)”](https://opensourceleg.discourse.group/t/cannot-set-motor-position-in-mode-c-int-1/184)
**Author:** [@mioki](https://opensourceleg.discourse.group/u/mioki)\ **Replies:** 7\ **Last updated:** [January 30, 2026, 2:01pm UTC](https://opensourceleg.discourse.group/t/cannot-set-motor-position-in-mode-c-int-1/184 "2026-01-30T14:01:39Z")
Hi everyone, I’m working with an OpenSourceLeg setup (knee + ankle, Dephy Actpack) and I consistently get the following warning right after homing, when starting a simple position-control script: WARNING: \[knee\]\[DephyA… --- ## [OSL emergency shut down button](https://opensourceleg.discourse.group/t/osl-emergency-shut-down-button/180)
**Author:** [@malizade](https://opensourceleg.discourse.group/u/malizade)\ **Replies:** 5\ **Last updated:** [January 29, 2026, 8:00pm UTC](https://opensourceleg.discourse.group/t/osl-emergency-shut-down-button/180 "2026-01-29T20:00:05Z")
Hi. How can we add an emergency shutdown button to turn off the motors through hardware or software? --- ## [The ankle joint range of motion and homing](https://opensourceleg.discourse.group/t/the-ankle-joint-range-of-motion-and-homing/173)
**Author:** [@malizade](https://opensourceleg.discourse.group/u/malizade)\ **Replies:** 4\ **Last updated:** [January 16, 2026, 3:33pm UTC](https://opensourceleg.discourse.group/t/the-ankle-joint-range-of-motion-and-homing/173 "2026-01-16T15:33:16Z")
Hi. After running homing\_joint.py in either direction for the ankle joint in either direction and then reading\_sensor\_data.py to read the encoder position, I get, Dorsiflexion: 36.4 degs Plantarflexion: -7.6 degs The … --- ## [Has someone ever setup the OSL in an ankle only mode?](https://opensourceleg.discourse.group/t/has-someone-ever-setup-the-osl-in-an-ankle-only-mode/163)
**Author:** [@Sani\_Hasan](https://opensourceleg.discourse.group/u/Sani_Hasan)\ **Replies:** 3\ **Last updated:** [January 3, 2026, 8:54am UTC](https://opensourceleg.discourse.group/t/has-someone-ever-setup-the-osl-in-an-ankle-only-mode/163 "2026-01-03T08:54:00Z")
Hey, i am looking for help in setting up the OSL in an ankle only mode and what that would look like or where i could find some instructions about removing the knee motor and having the pi on the anle motor only if that … --- ## [OSL belt re-tensioning](https://opensourceleg.discourse.group/t/osl-belt-re-tensioning/171)
**Author:** [@cangelid](https://opensourceleg.discourse.group/u/cangelid)\ **Replies:** 5\ **Last updated:** [December 31, 2025, 9:42am UTC](https://opensourceleg.discourse.group/t/osl-belt-re-tensioning/171 "2025-12-31T09:42:11Z")
I’m working with the OSL and need to re-tension the belts (for the knee/ankle). Has anyone had to do this before? If so, I’d really appreciate: any step-by-step instructions you followed, any tips on how you verif… --- ## [Specify acceptable heat treatments for 17-4PH steel parts](https://opensourceleg.discourse.group/t/specify-acceptable-heat-treatments-for-17-4ph-steel-parts/33)
**Author:** [@Troy](https://opensourceleg.discourse.group/u/Troy)\ **Replies:** 2\ **Last updated:** [August 28, 2025, 6:03pm UTC](https://opensourceleg.discourse.group/t/specify-acceptable-heat-treatments-for-17-4ph-steel-parts/33 "2025-08-28T18:03:33Z")
Please specify acceptable heat treatments for the 17-4PH steel parts.