[Joe Johnson]

There is some backlash, but to be honest, it is not all that much. With #35 Chain, it was often on the order of magnitude of our chain slack (if we let it get loose, which we did from time to time).

But, yes, the additional backlash can cause some problems for control loops at times. It is not that bad though. We ended up either living with the oscillations or adding damping to the system. The only joint we took steps to do something about were are fingers -- they are over powered and very lightly damped. We actually used some set screws on our finger axles, not to transfer torque (which everyone knows sucks) but to add drag to our pivots so that the extra damping removed the oscillations -- not exactly elegant but it worked.

Joe J.