FIG. 7.

Comparison of the effect of feedback type on the reference tracking of the revolute joint controller. On average, the encoder feedback (red lines) resulted in better joint angle tracking than the Smart Braid feedback (blue lines). During the first 5 s after the commanded step change, the average RMS of the error was 16% smaller in the encoder feedback case. In the last 5 s, the RMS of the encoder feedback error was, on average, 51% smaller than the Smart Braid error. In the case shown in this study, the desired preload was 10 N and no load torque was applied. Reported values were measured with the rotary encoder. RMS, root mean square. Color images available online at www.liebertpub.com/soro