# Tracking control with external force self-sensing ability based on position/force estimators and non-linear hysteresis compensation for a backdrivable cable-pulley-driven surgical robotic manipulator

> Research article (Mechanism and Machine Theory, 2023) · cited 30× · AI/ML

**Wikidata**: [openalex:W4320341516](https://www.wikidata.org/wiki/openalex:W4320341516)  
**Source**: https://4ort.xyz/entity/tracking-control-with-external-force-self-sensing-ability-based-on-position-force-estimators-and-non-linear-hysteresis-c