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Journal: Technologies, 2025
Volume: 13
Number: 192

Article: A New Contact Force Estimation Method for Heavy Robots Without Force Sensors by Combining CNN-GRU and Force Transformation
Authors: by Peizhang Wu, Hui Dong, Pengfei Li, Yifei Bao, Wei Dong and Lining Sun
Link: https://www.mdpi.com/2227-7080/13/5/192

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