# A Clamping Force Estimation Method Based on a Joint Torque Disturbance Observer Using PSO-BPNN for Cable-Driven Surgical Robot End-Effectors

> Research article (Sensors, 2019) · cited 24× · AI/ML

**Wikidata**: [openalex:W2991555530](https://www.wikidata.org/wiki/openalex:W2991555530)  
**Source**: https://4ort.xyz/entity/a-clamping-force-estimation-method-based-on-a-joint-torque-disturbance-observer-using-pso-bpnn-for-cable-driven-surgical