| RF | Radiofrequency |
| MRI | Magnetic resonance imaging |
| CI | Convergence index |
| CFE | Contact force estimation |
| CFSE | Contact force and stiffness estimation |
| KF | Kalman filter |
| EKF | Extended Kalman filter |
| IEKF | Iterative extended Kalman filter |
| IAEKF | Iterative adaptive extended Kalman filter |
| EM | Electromagnetic |
| RMSE | Root mean square error |
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