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. 2014 Jun 23;8:63. doi: 10.3389/fncom.2014.00063

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Copyright © 2014 Kuppuswamy and Harris.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Physical systems employed for demonstrating the TSDA. (A) Tethered mass (linear): motion of the mass is constrained to a 2D plane. The mass is anchored to the origin by weak passive forces and actuator forces are applied in two orthogonal directions. (B) Two-link planar compliant kinematic chain (non-linear): end-point motion is constrained to a 2D surface. Passive joint stiffness and damping effects are present and joint torques are used to actuate the system. The state-space descriptions of these systems have identical input (2), state (4), and output (2) dimensionality.