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Donat H, Lilge S, Burgner-Kahrs J, Steil JJ.  2020.  Estimating Tip Contact Forces for Concentric Tube Continuum Robots based on Backbone Deflection. IEEE Transactions on Medical Robotics and Bionics. 2(4):619-630.
T
Donat H, Lilge S, Steil JJ, Burgner-Kahrs J.  2019.  Towards Learning Force Sensing for a Concentric Tube Continuum Robot.