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The nonlinear dynamic behavior of nonbackdnvable transmissions, typicalIy associated with low lead angle gear components. has not been established in literature. To study the dynamic behavior of two proposed variable stiffness upper arm prostheses [English, 19961 which require nonbackrivable transmissions, a simple dynamic mode1 of nonintersecting, non-parallel ares gean was developed. The model includes the nonlinear effects of backlash. Hertzian damping and friction and can be used to studydoi:10.22215/etd/2000-04503 fatcat:5p7izb3xgnb55fef46jeb3f3la