Fig. 2
From: Case study on force compliant robot arm controller for nasopharyngeal swab insertion
Comparison of external force estimation methods evaluated with the arm moving through free space without any load. The underlying Franka Emika (FR) system estimates task space load by projecting the measurements from its seven torque sensors and has an unsuitable amount of noise and drift. The proposed loadcell has much lower noise and is much more suitable for responding to forces transmitted by the swab.
