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Figure7

From:  Improved impedance/admittance switching controller for the interaction with a variable stiffness environment
Improved impedance/admittance switching controller for the interaction with a variable stiffness environment

Figure 7. Contributions to the cost function for the soft, medium, and stiff environments, considering an inertia parameter $$ m_i=0.8 $$ kg and varying the $$ \delta_i $$ parameter.

Complex Engineering Systems
ISSN 2770-6249 (Online)
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