# A novel collision detection method based on current residuals for robots without joint torque sensors: A case study on UR10 robot

> Research article (Robotics and Computer-Integrated Manufacturing, 2024) · cited 16× · AI/ML

**Wikidata**: [openalex:W4395688933](https://www.wikidata.org/wiki/openalex:W4395688933)  
**Source**: https://4ort.xyz/entity/a-novel-collision-detection-method-based-on-current-residuals-for-robots-without-joint-torque-sensors-a-case-study-on-ur