As said, I cannot afford hardware costing unless fully sponsored, here is the underlying model thought for this(some part & equations posted).
Those who have proper degree, very very simple for them, no explanation needed to them.
Those who dont have, it is complex, undeveloped and will undergo more revisions, just posted. But this will how obstacles will be detected by Arduino. IIR ,kalman filtering + Sliding mode observer and for other digital PID . Rest ,I may post later with some explanation and some more equations or detail etc
So the knee joint and the ankle joint both will
