# A Comprehensive Control Method for Tendon–Sheath System Using Friction Model-Based Angle Estimation and Feedforward-Feedback Control in Time-Varying Configurations

> Research article (IEEE Transactions on Industrial Electronics, 2023) · cited 11× · AI/ML

**Wikidata**: [openalex:W4382119035](https://www.wikidata.org/wiki/openalex:W4382119035)  
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