Actuator features to improve function of a mobile robot

An exoskeleton system comprising:

• a left and right leg actuator unit configured to be respectively coupled to a left and right leg of a user, the left and right leg actuator units each including:
• an upper arm and a lower arm that are rotatably coupled via a joint, the joint positioned at a knee of the user with the upper arm coupled about an upper leg portion of the user above the knee and with the lower arm coupled about a lower leg portion of the user below the knee,
• a fluidic bellows actuator that extends between the upper arm and lower arm, wherein the fluidic bellows actuator comprises a mechanical spur directly in the structure of the fluidic bellows actuator, the mechanical spur controlled by an external lever or button configured to cause the mechanical spur to cut, tear or open a hole in the fluidic bellows actuator to cause a release of fluid held within the fluidic bellows actuator and preventing the fluidic bellows actuator from holding pressurized fluid and removing resistance in movement of the actuator unit generated by the fluidic bellows actuator when holding pressurized fluid, and
• and one or more stops disposed at one or both of the upper arm and the lower arm, the one or more stops configured to constrain rotation of the upper and lower arms including generating a maximum range of motion stop for the upper arm and the lower arm based on physical contact of the one or more stops, the maximum range of motion stop generated at less than an angle where main axes of upper arm and the lower arm are disposed along a coincident axis at 180°;
• an exoskeleton device that includes:
• a fluidic system, and
• a processor and memory, the memory storing instructions, that when executed by the processor, are configured to control the fluidic system to introduce fluid to the fluidic bellows actuators of the left and right leg actuator units;
• and
• a plurality of unitary cables, comprising a first unitary cable extending from the exoskeleton device to the right leg actuator unit and a second unitary cable extending from the exoskeleton device to the left leg actuator unit.