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. Author manuscript; available in PMC: 2015 Apr 1.
Published in final edited form as: IEEE ASME Trans Mechatron. 2015 Apr;20(2):782–788. doi: 10.1109/TMECH.2014.2305839

Fig. 5.

Fig. 5

Output torque and angular speed (n = 3, k = 250 N/m, x = 0.6 mm, r = 2.4 mm, m = 10 g, M = 160 g). The blue curve is the torque and the green curve is the speed.