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. Author manuscript; available in PMC: 2009 Apr 7.
Published in final edited form as: J Biomech. 2007 Apr 2;40(8):1653–1661. doi: 10.1016/j.jbiomech.2007.01.022

Figure 4.

Figure 4

Figure 4

Figure 4a: Representative trial showing endcap rotation time-history for a successful trial. This trial was with all sensations intact. Note how the endcap rotation is better regulated as the compressive spring force increases. Importantly, the endcap rotation angle stays well within the domain of attraction predicted by the subcritical pitchfork bifurcation normal form.

Figure 4b: Representative trial showing endcap rotation time-history when the spring slipped. This trial was with all sensations intact. Note that the spring slipped when the endcap rotation angle exceeded the domain of attraction. Importantly, the load at slip was lower than when the spring did not slip (cf. Fig. 4a).