# Sensorless collision detection and contact force estimation for collaborative robots based on torque observer

> Research article (2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2016) · cited 23× · AI/ML

**Wikidata**: [openalex:W2591683682](https://www.wikidata.org/wiki/openalex:W2591683682)  
**Source**: https://4ort.xyz/entity/sensorless-collision-detection-and-contact-force-estimation-for-collaborative-robots-based-on-torque-observer