X-DoF: Automatic Degree-of-Freedom Subset Selection for Inverse Blocked Force Characterization

Abstract Selecting the proper set of degrees-of-freedom (DoFs) is essential in inverse blocked force calculation. Including too many degrees-of-freedom in the computation can lead to overfitting, resulting in inaccurate force estimations and poor prediction quality. The discrepancy arises from errors within the dataset, such as measurement noise or other artifacts. This article presents a solution to the overfitting problem, introducing the X-DoF procedure to automatically identify the relevant subset of blocked force degrees-of-freedom. Its effectiveness is showed through numerical and experimental validation and compared against regularization techniques.