# A Novel Intrinsic Force Sensing Method for Robot Manipulators During Human–Robot Interaction

> Research article (IEEE Transactions on Robotics, 2021) · cited 26× · AI/ML

**Wikidata**: [openalex:W3160823244](https://www.wikidata.org/wiki/openalex:W3160823244)  
**Source**: https://4ort.xyz/entity/a-novel-intrinsic-force-sensing-method-for-robot-manipulators-during-humanrobot-interaction