Table 2.

Device Characteristics for MAHI Exo-II, RiceWrist-S [22], and Wrist Module of the MIT-Manus [15].

Joint	Static Friction (Nm)			Inertia (kg·m2)			Viscous Friction $\left(\frac{Nm\cdot s}{\mathit{\text{rad}}}\right)$		CL Pos. BW (Hz)
	ME-II	RW-S	MIT	ME-II	RW-S	MIT	ME-II	RW-S	ME-II	RW-S
E. F/E	0.9491 (12.9%)	—	—	0.2713	—	—	0.1215	—	2.8	—
F. P/S	0.139 (5.1%)	0.221 (13.1%)	0.29 (15.7%)	0.0257	0.0258	0.0058	0.0167	0.428	4.2	3.5
W. F/E	0.109 (7.5%)	0.198 (5.9%)	0.075 (5.2%)	0.002	0.01165	0.0040	0.0283	0.085	13.3	6
W. R/U	0.112 (7.7%)	0.211 (10%)	0.075 (5.2%)	0.0033	0.0048	0.0031	0.0225	0.135	10.6	8.3