Table 2.
List of passive stiffness values.
| Passive stiffness ID | S1 | S2 | S3 |
|---|---|---|---|
| Spring part no. | DWC-148M-13 | DWC-187M-12 | No Spring |
| Length (m) | 0.0635 | 0.0508 | – |
| Spring rate (N/m ×103) | 15.1 | 50.1 | – |
| Max load (N) | 413.7 | 778.4 | – |
| KT (Nm/deg) | 1.8957 | 3.6672 | 5.9365 |
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