Table 2.

Growth and decay coefficients of Eq. 9 for each DOF and amplitude oscillation and max/min ROM for each Dof

Joint	α [Hz]	β [Hz2/rad]	A [deg]	ϑmin [deg]	ϑmax [deg]
FE	0.2	0.0012	11.5	-14.5	14.5
AA	0.2	0.0015	11.5	-14.5	14.5
PS	0.25	0.0008	14.5	-30.5	30.5

The table provides the growth (α) and decay coefficient (β) used by the performance evaluator block of the controller to change the frequency of oscillation of the target. For each DOF, the table stores the amplitude (A) of the target oscillations while ϑ_min, ϑ_max are the minimum and maximum value assumed by the angular offset ϑ_o to space the range of motion of each Dof.