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. Author manuscript; available in PMC: 2023 Jun 14.
Published in final edited form as: IEEE Trans Instrum Meas. 2023;72:1–12. doi: 10.1109/TIM.2023.3239925

Fig. 9.

Fig. 9

Calibration results with various forces and torques applied: (a) forces in the z-direction; (b) torques around the x-direction; (c) torques around the y-direction.