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. Author manuscript; available in PMC: 2012 May 3.
Published in final edited form as: IEEE Trans Robot. 2009 Jun;25(3):539–548. doi: 10.1109/TRO.2009.2019788

Fig. 3.

Fig. 3

Step responses (each curve is the average of three trials) for low, medium, and high torques. In this experiment, we measured torque by the deflection in the spring.