ROBOMECH Journal

Table 2 Calibration result of \(C_1\) to \(C_6\)

From: Switching backdrivability of a planetary gear by vibration: design parameter setting and excited force estimation

Item		Value
\(C_1\)	[\(\hbox {N} \cdot \hbox { mm/A}\)]	62.1
\(C_2\)	[\(\hbox {N} \cdot \hbox {mm}\)]	−138
\(C_3\)	[\(\hbox {N} \cdot \hbox {mm s / rad}\)]	0.235
\(C_4\)	[\(\hbox {N} \cdot \hbox {mm}\)]	1.69
\(C_5\)	[\(\hbox {A s/ rad}\)]	0.00378
\(C_6\)	[\(\hbox {A}\)]	2.25

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