ResearchBenchmarksExternal joint torque estimation on Leader WAM armExternal joint torque estimation on Leader WAM armFollow3.19Joint 2 NRMSE2c-GC-LFB3.07243.86624.665.4538Jul 1, 2026Evaluation resultsMethodMethodLinksJoint 2 NRMSEJoint 4 NRMSE2c-GC-LFBController=2c-GC-LFBController=2c-GC-LFB2026.073.192.844c-DCController=4c-DCController=4c-DC2026.073.238.184c-GCController=4c-GCController=4c-GC2026.073.416.582c-GCController=2c-GCController=2c-GC2026.074.193.382c-DCController=2c-DCController=2c-DC2026.075.443.772c-GC-FFController=2c-GC-FFController=2c-GC-FF2026.076.134.83