Question: Derive the dynamic model of the AgonistAntagonist Variable Stiffness Actuator illustrated in Figure 2 when the following nonlinear springs are used in the design of

Derive the dynamic model of the AgonistAntagonist Variable Stiffness Actuator illustrated in Figure 2 when the following nonlinear springs are used in the design of the actuator. T1 : a(r16m1 r1903 + (3(1'16m1 r1002 + C(rlml r161) + d T2 : (LU-26,712 + r1903 + (9(1'26m2 + r1602 + C(r20m2 7 +r161) + d J ml? m1 m2' m

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