“…However, their other important features are evaluated and compared, such as estimation error inherent control, circulating current suppression, usage of force algorithm, and open-circuit fault detection in the arms. Table 4 shows that in other works, 12,13,19,20,31,32,38 all voltage sensors are installed in the arms, even though some eliminate current sensors, and others apply circulating current suppression methods. Furthermore, in experimental work, their switching frequency ranges from 2 to 20 kHz.…”