{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,21]],"date-time":"2026-04-21T15:09:35Z","timestamp":1776784175948,"version":"3.51.2"},"reference-count":25,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2016,5]]},"DOI":"10.1109\/icra.2016.7487605","type":"proceedings-article","created":{"date-parts":[[2016,6,9]],"date-time":"2016-06-09T17:33:24Z","timestamp":1465493604000},"page":"4128-4134","source":"Crossref","is-referenced-by-count":31,"title":["Dynamic modeling of cable driven elongated surgical instruments for sensorless grip force estimation"],"prefix":"10.1109","author":[{"given":"Yangming","family":"Li","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Muneaki","family":"Miyasaka","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mohammad","family":"Haghighipanah","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Lei Cheng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Blake","family":"Hannaford","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2006.885459"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1115\/1.3590387"},{"key":"ref12","article-title":"The effect of transmission design on force-controlled manipulator performance","author":"townsend","year":"1988"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487596"},{"key":"ref14","article-title":"Measurement of the cable-pulley coulomb and viscous friction for acable-driven surgical robotic system","author":"muneaki miyasaka","year":"2015","journal-title":"Int Conf on Intelligent RObots and Systems (IROS)"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353646"},{"key":"ref16","author":"khalil","year":"2004","journal-title":"Modeling Identification and Control of Robots"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1115\/1.1501080"},{"key":"ref18","first-page":"3461","article-title":"The square-root unscented kalman filter for state and parameter-estimation","volume":"6","author":"van","year":"2001","journal-title":"Acoustics Speech and Signal Processing 2001 Proceedings (ICASSP'01) 2001 IEEE International Conference on"},{"key":"ref19","first-page":"871","article-title":"Fourth-order 2n-storage runge-kutta schemes","volume":"109112","author":"carpenter","year":"1994","journal-title":"NASA TM"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2008.917481"},{"key":"ref3","doi-asserted-by":"crossref","first-page":"102","DOI":"10.1097\/01.sla.0000149301.60553.1e","article-title":"Force feedback plays a significant role in minimally invasive surgery: results and analysis","volume":"241","author":"tholey","year":"2005","journal-title":"Annals of Surgery"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2013.2297380"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942726"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2013.03.019"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-39899-8_35"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2010.06.009"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-25968-8_5"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1001\/jama.285.5.568"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1016\/S0019-9958(78)90859-8"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979567"},{"key":"ref21","article-title":"Extracting general-purpose features from lidar data","author":"li","year":"2010","journal-title":"Robotics and Automation 2010 ICRA 2010 IEEE International Conference on"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.jtcvs.2007.08.043"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1364\/OE.23.010771"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487606"}],"event":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","location":"Stockholm, Sweden","start":{"date-parts":[[2016,5,16]]},"end":{"date-parts":[[2016,5,21]]}},"container-title":["2016 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7478842\/7487087\/07487605.pdf?arnumber=7487605","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,9,21]],"date-time":"2020-09-21T20:25:27Z","timestamp":1600719927000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/7487605\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,5]]},"references-count":25,"URL":"https:\/\/doi.org\/10.1109\/icra.2016.7487605","relation":{},"subject":[],"published":{"date-parts":[[2016,5]]}}}