Unfortunately, because of the lack of financial return and the moving nature of the technology......there is a dearth of real scientific study and/or published data for this broad hobby called 'audio'.
Every designer of every component for sale in audio, has a 'philosophy' and/or 'science' behind his product that makes it 'better' than what came before and that of his competitors.
If one bought a component based solely on the 'science' of the claims.....one would deserve the sound that resulted 👀
Despite the obvious knowledge of Jonathan Carr.....his Lyra cartridges are amongst the poorest I have heard in my system....on both damped and undamped tonearms....
So how to put that supposed 'knowledge' into perspective?
The most scientific and exhaustive analysis on tonearm design that has been University accredited, belongs to Continuum Audio Laboratories which resulted in the Cobra and Copperhead tonearms.
Using a design team of five eminent specialist scientists under the direction of Mark Doehmannn, they applied a suite of advanced software towards the modelling of both arms beginning with Finite Element Analysis using NASTRAN, PATRAN, and DYSTRAN whilst finalizing the designs in the complex process of Gradient Shape Optimisation using 'Reshape' from advea.com.
The four greatest 'universal' tonearms I have heard are the FR-64s, FR-66s, Cobra and Copperhead.
All four are 'undamped' in the traditional sense 😜