# Motor-Current-Based Estimation of Cartesian Contact Forces and Torques for Robotic Manipulators and Its Application to Force Control

> Research article (IEEE Transactions on Automation Science and Engineering, 2017) · cited 181× · AI/ML

**Wikidata**: [openalex:W2607714105](https://www.wikidata.org/wiki/openalex:W2607714105)  
**Source**: https://4ort.xyz/entity/motor-current-based-estimation-of-cartesian-contact-forces-and-torques-for-robotic-manipulators-and-its-application-to-f