Table 1 System Characteristics of MR_CHIROD

Number of concentric cylinders

2

Gap between cylinders

1.25 [mm]

Outer diameter of resistive element

37.24 [mm]

Height of resistive element

21 [mm]

Max. resistive element torque (at 2 kV)

0.4 [N ml

Overall Device Parameters

Gear ratio

31.6:1

Handle length

0.08 [m]

Max. device resistive force

160 [N]