Hi Kåre!
I thought I would ask your opinion on this subject. We need to make a new foot to go with the new brackets. Do you have any input on it? Also on the longer “C” bracket, did you have any design notes? I had only a few minutes top start the thread. I intended to be more verbose. lol 
Hi Jim,
I need to adjust my brain into bipeds again… 
Let me do some research around it first. I’m thinking that the ankle pitch should be more or less centered on the feet. A bit wider on the side maybe?
I’ve no particular design notes on the longer C-brackets. But I’m thinking the total length should be around 85mm compared to the 58,6mm on the current long C-bracket so that the bracket gets much more freedom on the new 2 DOF joint. You might need to check on your new brackets (2 DOF joint) what the total length should be, but I think 85mm is pretty close. I’m also thinking that the rather long sides need some sort of reinforcement, if that’s possible?
Hi thanks for the input. 
I haven’t tried to make a “C” bracket with a bend as a reinforcement. I’m pretty sure I could do it on the end, but not on the sides where we need it. lol Because there is very little room between the ASB-04 “style” bracket and the “C” bracket on the bearing side it can’t be done. It could be added bending out away but that wouldn’t look to good. I could go with 0.09" (2.3mm) material to stiffen it up.
On the foot, you are using the larger of the two feet. I do see widening it a little will make the ASB-04 style brackets fit in places it doesn’t fit currently. Thanks!
