This part is shown in page 8 of the Assembly Diagram.

Remove Bottom Bracket. Remove the inside bracket from the bottom of the right leg. The 2 phillips screws securing this bracket are hard to reach with a screwdriver. A small pair of pliers works well, though.

Open the Leg. Remove the 4 phillips screws securing the inside leg panel. Two of these screws are deeply recessed. You'll need a long (6") #1 phillips to unscrew them.

Remove Drive-Wheel Gearing. Remove the 4 phillips screws securing the gearing and motor for the drive wheel and lift out the assembly.

Lift Out Drive Wheel. The drive wheel simply lifts out once the geartrain is removed. It has an attached encoder disk. The encoder's interrupter sensor is located near the outside of the foot. Wheel and sensor are shown below.

Detach Toes. The toes rotate on pivot pins in the inner and outer cover panels. They can be removed by unscrewing the bracket beneath the interrupter sensor and lifting them out.

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