# An Improved Sensing Method of a Robotic Ultrasound System for Real-Time Force and Angle Calibration

> Research article (Sensors, 2021) · cited 13× · AI/ML

**Wikidata**: [openalex:W3155267607](https://www.wikidata.org/wiki/openalex:W3155267607)  
**Source**: https://4ort.xyz/entity/an-improved-sensing-method-of-a-robotic-ultrasound-system-for-real-time-force-and-angle-calibration