We want to answer this question, how does the bandwidth change with the amount of torque we applied? From the simple motion like in-home yoga to skate boarding, more complicated movement requires higher bandwidth. We want to answer this question in the domain of very small applied torque region because we don't want to influence the motion too much. The detailed research questions in this experiment are:
This questions are meaningful in the application-wise because small torque domain is directly relevant to the actuator profile, which is cirtical for the wearable robot.
Kim, H., Asbeck, A., "The Effects of Torque Magnitude and Stiffness in Arm Guidance through Joint Torque Feedback." in in IEEE Access, doi: 10.1109/ACCESS.2022.3141981.[Link]