# Contact force and torque sensing for serial manipulator based on an adaptive Kalman filter with variable time period

> Research article (Robotics and Computer-Integrated Manufacturing, 2021) · cited 35× · AI/ML

**Wikidata**: [openalex:W3183240622](https://www.wikidata.org/wiki/openalex:W3183240622)  
**Source**: https://4ort.xyz/entity/contact-force-and-torque-sensing-for-serial-manipulator-based-on-an-adaptive-kalman-filter-with-variable-time-period