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. Author manuscript; available in PMC: 2017 Apr 1.
Published in final edited form as: IEEE Trans Haptics. 2015 Oct 1;9(1):20–32. doi: 10.1109/TOH.2015.2485201

Fig. 6.

Fig. 6

Bode plot of the system in closed-loop PID position control. A sinusoidal position with increasing frequencies (from 0 to 35 Hz, in steps of 0.5 Hz) is commanded to the motor, while the output position is measured at the finger module.