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. Author manuscript; available in PMC: 2020 Feb 1.
Published in final edited form as: Auton Robots. 2018 Jun 11;43(2):435–448. doi: 10.1007/s10514-018-9769-7

Fig. 5.

Fig. 5

The results of the inductance model for the joint used in this work. Much of the variation in the rotational compnents (e.g. va) is explained by a simple polynomial regression against the inductance of a coil on the length-changing bellows (e.g. L1a).