Fuente: Wipo "Sensorization" A robot or robotic system comprising a plurality of support structures, and a plurality of joint mechanisms each joint mechanism rotatably coupling at least two of the plurality of support structures. A sensor discrepancy detection system can be operable to interrogate a suite of sensors within the robotic system, and can comprise a plurality of sensor groups, each associated with a respective joint mechanism, and each comprising a plurality of sensors from the suite of sensors. A controller can execute a remedial measure associated with a safety/remedial mode of the robotic system based on an identified discrepancy between the sensor output data of the load cell compared to transformed sensor output data from the joint position sensor and the actuator position sensor, accounting for the transmission ratio, related to a difference in position and representing a transmission deflection, and correlated to a corresponding force associated with the difference in position.