New Spring system for balancing torque on knee, which will save energy, add more deep squat margin, and increase efficiency. Scoped spring and cord dimensions, learned how to auto implement screws in onshape, and got it all figured out for the most part, now all I need to do is lower weight, probably by decreasing batteries, and maybe I wont even have to reduce weight with this new spring in place, then I can implement the foam inserts on feet, remodel head, and maybe add head yaw, a lot to go but a majority of the work is done.