| Title | Estimating Tip Contact Forces for Concentric Tube Continuum Robots based on Backbone Deflection |
| Publication Type | Journal Article |
| Year of Publication | 2020 |
| Authors | Donat H, Lilge S, Burgner-Kahrs J, Steil JJ |
| Journal | IEEE Transactions on Medical Robotics and Bionics |
| Volume | 2 |
| Issue | 4 |
| Pagination | 619 - 630 |
| Date Published | 11/2020 |
| ISSN | 2576-3202 |
| URL | https://ieeexplore.ieee.org/document/9244613 |
| DOI | 10.1109/TMRB.2020.3034258 |
