# External Force/Torque Estimation With Only Position Sensors for Antagonistic VSAs

> Research article (IEEE Transactions on Robotics, 2020) · cited 22× · AI/ML

**Wikidata**: [openalex:W3095282746](https://www.wikidata.org/wiki/openalex:W3095282746)  
**Source**: https://4ort.xyz/entity/external-force-torque-estimation-with-only-position-sensors-for-antagonistic-vsas