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. Author manuscript; available in PMC: 2008 Jul 30.
Published in final edited form as: J Neurosci Methods. 2007 Mar 30;163(2):255–266. doi: 10.1016/j.jneumeth.2007.03.014

Figure 4.

Figure 4

(A) Validation of the system's ability to generate uniform torques across its range of motion. Measured torque generated by the device at in response to commanded torque values of 1, 2, 3, and 4 Nm did not vary as a function of joint angle. (B) The relationship between desired and measured torque was very linear (r2 = 99%), having a slope of 1.01 indicating that the system accurately reproduced the desired torque across its workspace.