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. 2018 Jun 14;5:51. doi: 10.3389/frobt.2018.00051

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Copyright © 2018 Barasuol, Villarreal-Magana, Sangiah, Frigerio, Baker, Morgan, Medrano-Cerda, Caldwell and Semini

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Recorded experimental data of the reference (dashed blue lines) and applied (solid red lines) torques while dropping a 5 kg weight attached to the experimental setup of the rotary actuator with different gains for the impedance control.