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Table 1 Spring–mass–dashpot system (SMD system) and P controller

From: Compliance control based on PSO algorithm to improve the feeling during physical human–robot interaction

Behavior End effector Arm Forearm Mean value
SMD system 0.0252 0.0257 0.0248 0.0252
P controller 0.0759 0.0583 0.0721 0.0688
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