Before revision:  Its effective stiffness can be changed continuously within 50 ms to 120 ms for small to large stiffness steps, its output velocity is up to 1100 rad/s and its oscillation behavior can be controlled precisely with the variable damper .
After revision:  Its effective stiffness can be changed continuously within 50 ms to 120 ms for small to large stiffness steps, its output velocity is up to 1100 rad/s and a variable damper with a damping torque from 0 to 3 Nm .