A recursive least squares algorithm compensates non-contact forces and torques on wrist-mounted F/T sensors for haptic robotic surgery training, claiming over 95% force and 91% torque error reduction.
Bias estimation and gravity compensation for wrist-mounted force/torque sensor,
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Real-Time Non-Contact Force Compensation for Wrist-Mounted Force/Torque Sensors in Haptic-Enabled Robotic Surgery Training
A recursive least squares algorithm compensates non-contact forces and torques on wrist-mounted F/T sensors for haptic robotic surgery training, claiming over 95% force and 91% torque error reduction.