Table 1.

Standard deviation σ from sensors’ datasheets.

	Angular Part			Linear Part
${\sigma }_{\ddot{q}}$				$2.57\times {10}^{-3}\mathrm{rad}/{\mathrm{s}}^2$
${\sigma }_{y_1}$	1.5 $\mathrm{Nm}$	1.5 $\mathrm{Nm}$	0.7483 $\mathrm{Nm}$	7.68 $\mathrm{N}$	7.68 $\mathrm{N}$	6 $\mathrm{N}$
${\sigma }_{y_2}$	$7.1\times {10}^{-3}\mathrm{rad}/{\mathrm{s}}^2$ (gyro)			$3.33\times {10}^{-2}\mathrm{m}/{\mathrm{s}}^2$ (acc)