We agree that transient analysis is important in designing a robot joint. However, the transient analysis requires relevant parameters of the robot arm be determined besides the parameters of the joint. The following sentence has been added at the end of Conclusions: "For future work we will develop variable stiffness techniques of this joint, and explore its application in a robot arm considering both kinetostatic and transient behaviors"
Transient analysis followed by reliability experiments/analysis/modeling of the proposed structure would be interesting and critical in aspect of joint application contrains. In my opoinion is should be added or explained in context of scheduled follow-up activities.