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. Author manuscript; available in PMC: 2021 Jul 20.
Published in final edited form as: IEEE Int Conf Robot Autom. 2016 Jun 9;2016:4128–4134. doi: 10.1109/icra.2016.7487605

Fig. 13.

Fig. 13.

Sensor Measurement and Estimation Error Comparison. Difference between the estimated force and the sensor measured force are compared with sensor measured force, in order to show the ”delay phenomenon”.