Designed to have an interchangeable system between a cycloidal drive and a timing belt pulley system. Currently rated for a output torque of 8-15 Nm mechanical advantage.

Uses carbon-fiber tubes to allow for easier manufacturing and off the shelf strength. 

Primarily designed and assembled by myself in SolidWorks.

Pitch and Yaw axle, allowing for hip motor to be disconnected from the shin/femur motor

Mechanical back to provide support (planning a linear slide with lock adjustable back plate.

Assisted in ideation of backplate and mechanical system integration between hip and legs. A portion can be seen below.