time
Unit: 		seconds
Description: 	Clock, which is running since the start of the control software.

deltaTime
Unit: 		seconds
Description: 	Time since the last execution of the control loop.

motorTorque
Unit: 		Nm
Description: 	Torque at motor shaft.

position
Unit: 		°
Description: 	Angular position of the principal axis of the device (alpha).

speedRaw
Unit: 		°/s
Description: 	Angular speed, obtained by numerical backwards differentiation.

speedFiltered
Unit: 		°/s
Description: 	Angular speed, filtered by a first-order low-pass filter with cut-off frequency of 16 Hz.

forceSensor
Unit: 		N
Description: 	Interaction force, measured by force sensor (sampled at ≈ 80Hz)

bpm
Unit: 		beats/min
Description: 	Speed at which participants were asked to move their hand (speed of metronome).