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. Author manuscript; available in PMC: 2014 Mar 17.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2012 Dec 31;2012:793–798. doi: 10.1109/BioRob.2012.6290862

Fig. 8.

Fig. 8

The input-output relationship remains satisfactorily linear if β is bounded to [−π/3, π/3].