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. Author manuscript; available in PMC: 2016 Nov 3.
Published in final edited form as: IEEE ASME Trans Mechatron. 2015 Mar 30;20(6):2876–2889. doi: 10.1109/TMECH.2015.2396894

Fig. 7.

Fig. 7

Nonlinear dual rate spring used to model flexure elasticity and intersegment collisions. k1 = 0.36 Nm/rad, k2 = 10 Nm/rad, θthresh = 0.135 rad.