# Sliding Perturbation Observer Based Reaction Force Estimation Method of Surgical Robot Instrument for Haptic Realization

> Research article (International Journal of Humanoid Robotics, 2015) · cited 25× · AI/ML

**Wikidata**: [openalex:W2053657993](https://www.wikidata.org/wiki/openalex:W2053657993)  
**Source**: https://4ort.xyz/entity/sliding-perturbation-observer-based-reaction-force-estimation-method-of-surgical-robot-instrument-for-haptic-realization