can we have access to the code

I tried to do something very similar for my senior design project last year, but it was pretty bulky.  I was intending to come back and try to improve it soon so this is very cool to see.

Thanks. The first version that I made was extremely bulky. I slimmed it down by taking out the unnecessary weight and making parts as small as possible. Feel free to modify/use my design if you revisit your project. 

I will definitely reference this in the future when I make design changes.  I have a few other project ideas that I plan on sharing in the future that would benefit from compliant servos.

Great, I would love any future  project ideas  that you are willing to share. I’m actually trying to use this series elastic actuator design to create an 8 DOF quadrupedal robot. 

We were working on a 12 dof quadruped but we only focused on making a leg first.  I'll be uploading that soon. And I have a companion robot I'm designing that I'm thinking about implementing this into

Interesting, I had made a previous 8 DOF robot but it was way too stiff. With this modified servo, the robot will be able to step over objects, adjust force output and overall have a more dynamic gait. I look forward to seeing your quadrupedal robot project.