# Estimating Tip Contact Forces for Concentric Tube Continuum Robots Based on Backbone Deflection

> Research article (IEEE Transactions on Medical Robotics and Bionics, 2020) · cited 38× · AI/ML

**Wikidata**: [openalex:W3097556244](https://www.wikidata.org/wiki/openalex:W3097556244)  
**Source**: https://4ort.xyz/entity/estimating-tip-contact-forces-for-concentric-tube-continuum-robots-based-on-backbone-deflection