# Shape and contact force estimation of continuum manipulators using pseudo rigid body models

> Research article (Mechanism and Machine Theory, 2019) · cited 99× · AI/ML

**Wikidata**: [openalex:W2937885510](https://www.wikidata.org/wiki/openalex:W2937885510)  
**Source**: https://4ort.xyz/entity/shape-and-contact-force-estimation-of-continuum-manipulators-using-pseudo-rigid-body-models