GAO Hongyan1 , 2(高红岩)，AI Xiaojie1 , 2(艾孝杰)，SUN Zhenglong3(孙正隆)，CHEN Weidong1 , 2(陈卫东)，GAO Anzhu1 , 2*(高安柱) . Progress in Force-Sensing Techniques for Surgical Robots[J]. Journal of Shanghai Jiaotong University(Science), 2023 , 28(3) : 370 -381 . DOI: 10.1007/s12204-023-2607-x

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