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

Table 3.

Experimental measurements of the system stiffness and damping.

Test with inner $H_{\infty}$ force control, K_v = 15 and B_v = 0.			Test with inner RR- DMJLS force control, K_v = 15 and B_v = 0.
	K_r	e_{K_v}	K_r	e_{K_v}
θ	$(\frac{N \cdot m}{r a d})$	(%)	$(\frac{N \cdot m}{r a d})$	(%)
2	16.44	9.60	15.28	1.86
3	7.00	53.33	16.13	7.53
Test with inner RR-DMJLS force control, K_v = 15 and B_v = 5.
	K_r	e_{K_v}	B_r	e_{B_v}
θ	$(\frac{N \cdot m}{r a d})$	(%)	$(\frac{N \cdot m \cdot s}{r a d})$	(%)
2	15.38	2.53	4.86	2.80
3	15.91	6.06	4.70	6.00