A joint is in dynamic friction if its joint velocity magnitude exceeds 1.5 times the stiction transition velocity. The dynamic coefficient of friction (md) is used in the computation of frictional forces.

Transition between dynamic and static friction;

If the joint velocity magnitude is between 1 and 1.5 times the stiction transition velocity, the joint is considered to be transitioning between static and dynamic friction. A STEP function transitions the coefficient of friction between the dynamic (md) and static (ms) coefficients of friction.

A joint is in static friction when the joint velocity magnitude falls below the stiction transition velocity. The effective coefficient of friction is computed using the joint creep, joint velocity, and static coefficient of friction ( ms ).