A Novel Method of Dynamic Force Identification and Its Application

Table 1

Comparison of different identification methods.

Evaluation metrics	FR method	PRP method	VPRP method	EMSCG method
RMSE	0.4182	2.9087	0.9055	0.3665
Restoration time (s)	12.1442	40.3227	18.361	5.0116
Iterative steps	19	55	27	11