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. Author manuscript; available in PMC: 2020 Dec 1.
Published in final edited form as: IEEE Trans Robot. 2019 Aug 21;35(6):1464–1474. doi: 10.1109/TRO.2019.2930915

Fig. 10.

Fig. 10.

Joint angle and residual torque in free mode. At a moderate speed and range of motion, the user moved the end-effector randomly.