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. Author manuscript; available in PMC: 2019 Apr 1.
Published in final edited form as: IEEE Trans Haptics. 2017 Jun 7;11(2):267–278. doi: 10.1109/TOH.2017.2713380

Fig. 5.

Fig. 5.

Output torque pulse magnitudes in the y direction. (a) and (b) show the two CMG components separately. (c) When both CMGs pulse, the x and z components cancel to approximately zero, and the y components sum. Here, the mean torque for ten repeated pulses is plotted about each axis and shown with an envelope depicting the standard deviation.