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
1
e
4
Λ
2
𝑖
150
Γ
1
𝑖
9
e
3
Γ
2
𝑖
2.7
e
5
Γ
3
𝑖
1
e
3