Fig. 9From: Friction and noise suppression for force control system based on integration of observer and force sensor informationBode diagram of transfer functions with the variation of the bandwidth of sensor and RTOB integration \(g^I\) from 100 to 1100 rad/s. a Transfer functions from command torque to output external torque. b Transfer functions from load torque to output external torque. c Transfer functions from sensor noise to output external torqueBack to article page