Kevin Dullea

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In this paper we introduce STEPPR (Sandia Transmission-Efficient Prototype Promoting Research), a bipedal robot designed to explore efficient bipedal walking. The initial iteration of this robot achieves efficient motions through powerful electromagnetic actuators and highly back-drivable synthetic rope transmissions. We show how the addition of parallel(More)
This paper describes the design and performance of a synthetic rope on sheave drive system. This system uses synthetic ropes instead of steel cables to achieve low weight and a compact form factor. We demonstrate how this system is capable of 28-Hz torque control bandwidth, 95% efficiency, and quiet operation, making it ideal for use on legged robots(More)
Interface pressures are closely related to the comfort and fit of a lower-limb prosthetic socket and clinicians and researchers are interested in monitoring these loads. In particular, shear stresses at the socket/liner interface are indicative of important fit characteristics but are difficult to measure in situ. We have developed an elastomeric liner with(More)
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