fig4
![Robotized technologies for enhanced shipyard operations: challenges and solutions](https://image.oaes.cc/7f4ad1ef-cc72-424e-9f95-13d3350f6af7/gmo10102601.fig.4.jpg)
Figure 4. Hand-Guiding Module random force and position results in three axes. (A-C) The HG force torque sensor output in the form of the wrench with respect to time; (D-F) The cartesian position when HG wrench was applied at the HMI corresponding to the sample time. HG: Hand-guiding; HMI: human-machine interfaces.