. Author manuscript; available in PMC: 2018 Feb 1.
Published in final edited form as: IEEE ASME Trans Mechatron. 2016 Oct 20;22(1):115–126. doi: 10.1109/TMECH.2016.2618362
Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
Figure 1.
System schematic