cff-version: 1.2.0
abstract: "<div>CAD model of the Dynamic Robotic Actuator (Dyrac). The Dyrac actuator was developed in the frame to reproduce human hammering motions in a teleoperation scenario. The design requirements were were a stiffness changing time of 50 ms, a peak output velocity of 20 rad/s, and variable damping.</div><div>Performance measurements on the prototype showed an effective stiffness changing time of 50-120 ms for small to large stiffness steps, nominal output velocity of 16 rad/s, and a variable damper with a damping torque of 0-3 Nm.<br>     Its effective stiffness range is 0.2-313 Nm/rad.<br></div>"
authors:
  - family-names: Aiple
    given-names: Manuel
    orcid: "https://orcid.org/0000-0002-6860-0964"
title: "Solidworks model and system identification data of the Dynamic Robotic Actuator (Dyrac)"
keywords:
version: 1
identifiers:
  - type: doi
    value: 10.4121/13625951.v1
license: CC0
date-released: 2021-01-26