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Fig. 9 | BioMedical Engineering OnLine

Fig. 9

From: Evaluation of three force-position hybrid control methods for a robot-based biological joint-testing system

Fig. 9

Control iterations at test increments for all control methods during the VV test. Changes of the constraining force (AP, PD and LM) and moment (IE) components with control iterations (grey lines) at three typical test increments for each of the control methods during the VV test. No control iterations were used for CT and FPH, so their constraining force and moment values were the incremental values (black triangles). For FPA and FPHFM, the incremental values (black triangles) were further reduced over a number of control iterations (grey dots) and converged to the final values (black dots)

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