# Unknown External Force Estimation and Collision Detection for a Cooperative Robot

> Research article (Robotica, 2019) · cited 16× · AI/ML

**Wikidata**: [openalex:W2974457815](https://www.wikidata.org/wiki/openalex:W2974457815)  
**Source**: https://4ort.xyz/entity/unknown-external-force-estimation-and-collision-detection-for-a-cooperative-robot