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KinematicsJointRangesConversionFactors

v24	v25
55	55	The TorqueSwitch™ is reset by opening the finger. First, the distal link will open as the proximal gear winds along the shaft, then drive the proximal gear against the belleville washers, re-engaging the clutch and causing the proximal link to open with the distal link. When the proximal link encounters a resistive force, such as its joint stop, the proximal gear will compress the bellevilles, preloading the system to a programmable level (Puck parameter "OT").
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57		Figure 6 can be used to set OT. Because of variance in the coefficient of friction, some adjustment may be necessary for your application. The force shown in this graph is applied to an object held about half way up the proximal link when the breakaway torque is reached. In other words, it is a measure of how hard the proximal links are grasping when the torque switch activates.
	57	Figure 6 can be used to set OT (the factory default is 0). The force shown in this graph is applied to an object held about half way up the proximal link when the breakaway torque is reached. In other words, it is a measure of how hard the proximal links are grasping when the torque switch activates. Because of variance in the coefficient of friction, some adjustment may be necessary for your application.
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