# External Force Self-Sensing Based on Cable-Tension Disturbance Observer for Surgical Robot End-Effector

> Research article (IEEE Sensors Journal, 2019) · cited 31× · AI/ML

**Wikidata**: [openalex:W2921666079](https://www.wikidata.org/wiki/openalex:W2921666079)  
**Source**: https://4ort.xyz/entity/external-force-self-sensing-based-on-cable-tension-disturbance-observer-for-surgical-robot-end-effector