Dynamical stability and mechanical impedance are optimized when manipulating uncertain dynamically complex objects
Fig 2
Exemplary trial visualizing the computation of relative phase between the cup and ball. The phases of the cup and ball were computed using the Hilbert transform. The phases were then unwrapped and subtracted to obtain the relative phase or phase difference. The cup and ball oscillate in phase, as indicated by the relative phase hovering around 0 deg, a relative phase of 180 deg represents anti-phase oscillations. The circular variance of relative phase that represents relative phase variability is 0.002.