# Contact force estimation for serial manipulator based on weighted moving average with variable span and standard Kalman filter with automatic tuning

> Research article (The International Journal of Advanced Manufacturing Technology, 2021) · cited 17× · AI/ML

**Wikidata**: [openalex:W3172001214](https://www.wikidata.org/wiki/openalex:W3172001214)  
**Source**: https://4ort.xyz/entity/contact-force-estimation-for-serial-manipulator-based-on-weighted-moving-average-with-variable-span-and-standard-kalman-