# Effective Estimation of Contact Force and Torque for Vision-Based Tactile Sensors With Helmholtz–Hodge Decomposition

> Research article (IEEE Robotics and Automation Letters, 2019) · cited 72× · AI/ML

**Wikidata**: [openalex:W2963379061](https://www.wikidata.org/wiki/openalex:W2963379061)  
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