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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

TABLE I.

Torque step response of the serka

Step On Step Off
Torque 90% Rise
Time (s)		 5% Settling
Time (s)		 90% Fall
Time (s)		 5% Settling
Time (s)
4 N·m 0.013 0.035 0.019 0.027
12 N·m 0.017 0.018 0.016 0.047
28 N·m 0.040 0.044 0.047 0.050
41 N·m 0.078 0.089 0.057 0.060