“…Webster and his colleagues [21], [22], [25] had a torque motor move the forearm over 100° with a constant velocity of 20 deg/s so that the full flexion-extension cycle took 10s to complete. In the later studies, faster oscillations with a frequency of 0.5 Hz over a shorter angular range of 40°-50°w ere used in the elbow experiments [14], [15], and rigidity in the wrist was tested using 1-1.5 Hz sinusoidal oscillations with a ± 30° displacement [13]. In a study of rigidity at the wrist, Teravainen and his colleagues [11] explored a range of waveform parameters: displacements from ± 15° to ± 30°, sinusoidal oscillations with frequencies from 0.2 Hz to 1.6 Hz, and a constant velocity waveform with a range of velocities from 24 to 190 deg/s.…”