Identification of Intrinsic Friction and Torque Ripple for a Robotic Joint with Integrated Torque Sensors with Application to Wheel-Bearing Characterization by Sri Harsha Turlapati, Van Pho Nguyen, Juhi Gurnani, Mohammad Zaidi Bin Ariffin, Sreekanth Kana, Alvin Hong Yee Wong, Boon Siew Han, Domenico Campolo

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