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Shown are the preloads on the revolute joint averaged over during the last 5 s of each commanded angle in the controlled trials. The two types of feedback resulted in different preloads. The effectual single integrator of the encoder feedback resulted in better preload tracking than the two integrators of the inductance feedback. For the conditions shown in this study, no load torque was applied. Color images available online at www.liebertpub.com/soro
