| Title | Real-Time Shape Estimation for Concentric Tube Continuum Robots with a Single Force/Torque-Sensor |
| Publication Type | Journal Article |
| Year of Publication | 2021 |
| Authors | Donat H, Gu J, Steil JJ |
| Journal | Frontiers in Robotics and AI -- Soft Robotics |
| DOI | 10.3389/frobt.2021.734033 |
