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. Author manuscript; available in PMC: 2023 Oct 1.
Published in final edited form as: IEEE Trans Ind Electron. 2023 Oct;70(10):10333–10343. doi: 10.1109/TIE.2022.3220864

Fig. 13. Force and torque measurement: (a) forces in the z-direction; (b) torques around the x-direction; (c) torques around the y-direction.

Fig. 13