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. 2019 Nov 1;5:19. doi: 10.1186/s42234-019-0034-y

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© The Author(s) 2019

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

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Fig. 5 — Closed-loop response to increasing and decreasing target (desired) forces. a The target force is increased from 2.5 to 5 N causing a rapid response that overshoots the final desired value, but settles within +/− 10% of the final value in less than 1 s. b The target force is decreased from 5 to 2.5 N associated with a rapid response, settling within 1 s