I can likely use the data we collected to determine the friction in the bearings to test whether the compensation works. The measured sensor torque should equal the the torque due to the springs plus the inertial torque minus the friction torque. Maybe. I'm not sure. It would be really nice if I had some data where the rider applied steer torque is zero or known and then see if the compensation correctly compensates.
I can likely use the data we collected to determine the friction in the bearings to test whether the compensation works. The measured sensor torque should equal the the torque due to the springs plus the inertial torque minus the friction torque. Maybe. I'm not sure. It would be really nice if I had some data where the rider applied steer torque is zero or known and then see if the compensation correctly compensates.