6-DOF Force Sensing for the Master Tool Manipulator of the da Vinci Surgical System

David G. Black, Amir Hossein Hadi Hosseinabadi, Septimiu E. Salcudean. 6-DOF Force Sensing for the Master Tool Manipulator of the da Vinci Surgical System. IEEE Robotics and Automation Letters, 5(2):2264-2271, 2020. [doi]

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