# Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI

> Research article (Sensors, 2020) · cited 12× · AI/ML

**Wikidata**: [openalex:W3024673962](https://www.wikidata.org/wiki/openalex:W3024673962)  
**Source**: https://4ort.xyz/entity/proprioceptive-estimation-of-forces-using-underactuated-fingers-for-robot-initiated-phri