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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. 4.

Fig. 4

Bode plots of high and low torque amplitudes. Note that the output is torque and the input is position (contrary to the more traditional input of torque and output of position) since this is a series elastic actuator.