Fig. 12From: Mobile robotic cart development to support home oxygen therapy patients: Study on handling interface for mobile robotic cart similar to wheeled walkerStep response of our proposed 2-D.O.F. PID control system. a Step response of C 2−R(s) and C 2−L(s). b Step response of each C 1−R(s) and C 2−R(s): time constant is variableBack to article page