Table 3.
Device torques and forces summary. Columns divided in: (a) maximum continuous and (b) peak values (both from data sheet), and (c) used ones (through software saturation)
| (a) Max. continuous | (b) Peak | (c) Max. used | |
|---|---|---|---|
| Motors’ current (A) | 1.65 | 11.8 | 1.5 |
| Motors’ output torques (Nm) | 1.2118 | 8.964 | 1.101 |
Force at  a (N) |
5.5 | 39.3 | 5.5 |
Torque at wrist (Nm; with  m) |
0.385 | 2.751 | 0.35 |
a
This is the maximum force assured in all the interested workspace given the current saturation at 1.5 A, as specified in Section “Device Dimensioning and Anthropomorphic Matching.” This means that, depending on the device Jacobian (and thus on its joint position), it is also possible to reach greater values.