1. An estimation method of grasping force for laparoscope surgical robot based on the model of a cable-pulley system. (April 2019) Authors: Xue, Renfeng; Du, Zhijiang; Yan, Zhiyuan; Ren, Bingyin Journal: Mechanism and machine theory Issue: Volume 134(2019) Page Start: 440 Record Type: Journal Article View Content: Available online (eLD content is only available in our Reading Rooms) ↗