Table 2 Design requirements and achieved operating properties at maximum currents of 0.35 A

α_max (Maximum joint deflection angle)

≥ |± 90°|

+ 88.9°, − 89.7°

+ 93.3°, − 93.9°

+90.9°, − 91.8°

τ_{1, 63,95} (response time to input)

n/a

(30/244/1180) ms

(59/398/1217) ms

(93/317/1328) ms

f_c (cut-off frequency)

n/a

0.5 Hz

0.25 Hz

0.5 Hz

t_max (Operation lifetime)

≥ 4 h

5.7 h

4.9 h

4.4 h

ϑ_max (Maximum surface temperature)

≤ 50 °C

56.4 °C

56.3 °C

59.3 °C

F_1,2.max (Maximum wire forces)

n/a

2.8 N, 2.8 N

2.8 N, 2.7 N

2.7 N, 2.6 N

F_⊥ (Lateral force)

n/a

0.17 N

0.21 N

0.19 N