Before revision:  Its effective stiffness range is 0.2 Nm/rad to 313 Nm/rad and its maximum continuous torque 9.4 Nm. This unique combination makes the new actuator  particularly suitable for highly dynamic tasks , while being also very versatile, and makes it especially interesting for teleoperation and human-robot collaboration.
After revision:  Its effective stiffness range is 0.2 Nm/rad to 313 Nm/rad and its maximum continuous torque 9.4 Nm. This unique combination makes the new actuator particularly suitable for highly dynamic tasks . At the same time, the new actuator is also very versatile, and makes it especially interesting for teleoperation and human-robot collaboration.