“…As the results show, the stiffness values of the combined system, are below 1,1 N/碌m for both, with and without MHP-actuator. As presented in [6], the occurring forces of the electromagnetic actuator are depending on the MHP-parameters I, f, h, where I is the intensity of the system, which is proportional to the current, f is the working frequency of the system and the so called stroke h represents the distance between the hammer tip and the treated surface. A consequence of the low stiffness of the robot and the acting process forces of the electromagnetic system is an increase of the distance between the tip and the surface.…”