1. TPAD controller performance for three force components.
TPAD controller performance for three force components. (A) Fx in medial-lateral direction satisfies to be within ±1.5% BW. (B) Fy in anterior-posterior direction is within ±1.5% BW. (C) Fz in vertical direction is controlled to be at −10% BW.
J. Kang et al. Sci. Robotics 2017;2:eaan2634
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