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. 2020 Aug 4;20(15):4333. doi: 10.3390/s20154333

Figure 8.

Figure 8

Experimental results of model validation, where R is the root mean square error (RMSE). (a) is the result of model (1), where l is the length of Bowden Cable. (b) is the result of model (2), where f is the output force.