fig5

Figure 5. F/T inference results. (A) F/T inference comparison under quasi-static random load application, showing predicted versus ground truth values across six F/T components; (B) Time-series F/T signal analysis during brushing operations; (C) Demonstration of high-frequency noise attenuation by the sensor; (D) Validation of accurate lower-frequency force variation tracking; (E) Quasi-static force performance assessment showing MAE (bar plots, left y-axis) and relative error (line plots, right y-axis); (F) Dynamic force performance assessment; (G) Quasi-static torque performance assessment; (H) Dynamic torque performance assessment; (I) Scatter plot validation for quasi-static conditions, demonstrating strong linear correlation (R² > 0.95 for forces); (J) Scatter plot analysis in brushing scenarios shows similarly high R² values across most axes, except for T_z, due to the minimal real-world torque in this axis. F/T: Force/torque; MAE: mean absolute error.