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This paper puts forward an ensemble temperature compensation method based on the whale optimization algorithm (WOA) tuning the least-square support vector machine (LSSVM) and trimmed bagging. To be specific, the stimulated annealing algorithm (SA) was hybridized to the WOA to solve the local entrapment problem, and an adaptive trimming strategy is proposed to obtain the optimal trim portion for the trimmed bagging. In addition, inverse quote error (invQE) and cross-validation are employed to estimate the fitness better in training process. The maximum absolute measurement error caused by temperature decreased from 3.34% to 3.9\u00d710\u22123% of full scale after being compensated by the proposed method. The analyses of experiments illustrate the ensemble hWOA-LSSVM based on improved trimmed bagging improves the precision and stability of F\/T sensors and possesses the strengths of local search ability and better adaptability.<\/jats:p>","DOI":"10.3390\/s22134809","type":"journal-article","created":{"date-parts":[[2022,6,26]],"date-time":"2022-06-26T22:50:23Z","timestamp":1656283823000},"page":"4809","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A Temperature Compensation Method for aSix-Axis Force\/Torque Sensor Utilizing Ensemble hWOA-LSSVM Based on Improved Trimmed Bagging"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5978-4995","authenticated-orcid":false,"given":"Xuhao","family":"Li","sequence":"first","affiliation":[{"name":"Institutes of Physical Science and Information Technology, Anhui University, Hefei 230093, China"},{"name":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lifu","family":"Gao","sequence":"additional","affiliation":[{"name":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China"},{"name":"School of Science Island, University of Science and Technology of China, Hefei 230026, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Huibin","family":"Cao","sequence":"additional","affiliation":[{"name":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuxiang","family":"Sun","sequence":"additional","affiliation":[{"name":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Man","family":"Jiang","sequence":"additional","affiliation":[{"name":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yue","family":"Zhang","sequence":"additional","affiliation":[{"name":"Institutes of Physical Science and Information Technology, Anhui University, Hefei 230093, China"},{"name":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,6,25]]},"reference":[{"key":"ref_1","first-page":"1621","article-title":"Research on Joint Torque Sensor for Space Manipulator Based on Redundant Measurement","volume":"31","author":"Yuxiang","year":"2018","journal-title":"Chin. 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