Figure 6

Feedback-based control of the both sliding spring and pin joint spring. Feedback-based control of both pin joint and sliding joint springs, with dilation speed ramping up to a steady-state of 0.692 c m·h r^-1, shown in (a). Spring constants peak early to counter the more significant torque produced by the traction force. Maximum spring constants are 0.41 N·m·rad^-1 and 2000 N·m^-1 and for the pin joint (b) and sliding joint (c) springs, respectively.