Huiming Cheng received the Ph.D. degree in Mechanical Engineering from Beijing University of Technology, Beijing, China, in 2024. He is currently a teacher at Beijing University of Technology, with research focused on robot joint testing technology.
This paper will review the development process, current research status, characteristics, functions, and measurement methods of TE. It will analyze the difficulties and core issues existing in the basic theory of TE, clarify the limitations and deficiencies of TE, and explore ways to overcome the shortcomings of TE.
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