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When pressurized (with pressure values P1 and P2), the actuators in the revolute joint test fixture exerted forces F1 and F2. The difference in the two forces created a net torque on the rotating load that induced contractions in the actuators x1 and x2 and a rotation of the load (expressed by the angle 
). The actuator connections were compliant and thus modeled as springs with linear stiffness k1 and k2. Color images available online at www.liebertpub.com/soro
