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. 2017 Aug 24;11:43. doi: 10.3389/fnbot.2017.00043

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Copyright © 2017 Jutinico, Jaimes, Escalante, Perez-Ibarra, Terra and Siqueira.

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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Recursive RR-DMJLS force controller. (A) Fixed mode. (B) Resistive mode. (C) Resistive and passive modes. For each operation mode, graphs show desired (black) and actual (blue) spring forces (top), and Markov chains (bottom).