# 6-Axis Hybrid Sensing and Estimation of Tip Forces/Torques on a Hyper-Redundant Robotic Surgical Instrument

> Research article (2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019) · cited 11× · AI/ML

**Wikidata**: [openalex:W3004293413](https://www.wikidata.org/wiki/openalex:W3004293413)  
**Source**: https://4ort.xyz/entity/6-axis-hybrid-sensing-and-estimation-of-tip-forces-torques-on-a-hyper-redundant-robotic-surgical-instrument