A cost-saving alternative to direct force measurement is force estimation (also known as "indirect force measurement"). This makes it possible to dispense with the use of force/torque sensors. In addition to cost savings, dispensing with these sensors has other advantages: Force sensors are usually the weakest link in the mechanical chain of the machine or robot system, so dispensing with them brings greater stability and less susceptibility to mechanical faults. In addition, dispensing with force/torque sensors brings greater safety, since there is no need for sensor cables to be routed out and protected directly at the manipulator's wrist.