Table 3: parameters of the positioning and stiffness actuators fast controllers used in the simulations.

Symbol Case no. 1, no. 2, no. 3

Λ 1 𝑖 1e4
Λ 2 𝑖 150
Γ 1 𝑖 9e3
Γ 2 𝑖 2.7e5
Γ 3 𝑖 1e3