{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,30]],"date-time":"2025-10-30T07:11:54Z","timestamp":1761808314908,"version":"3.37.3"},"reference-count":31,"publisher":"World Scientific Pub Co Pte Ltd","issue":"05","funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61873008"],"award-info":[{"award-number":["61873008"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004826","name":"Natural Science Foundation of Beijing Municipality","doi-asserted-by":"publisher","award":["4182008"],"award-info":[{"award-number":["4182008"]}],"id":[{"id":"10.13039\/501100004826","id-type":"DOI","asserted-by":"publisher"}]},{"name":"BJUT united grand scientific research program on intelligent manufacturing","award":["JZ041001201702"],"award-info":[{"award-number":["JZ041001201702"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2019,10]]},"abstract":"<jats:p> This paper proposes an external force detection method for humanoid robot arm without using joint torque sensors, which can detect the external force of the joint space in real time during the operation of the robot. We first analyzed the structure of the humanoid robot arm we designed, and then established the external force detection model of the robot arm based on robot dynamics and motor dynamics. Subsequently, analyses were conducted on the error of the detection model and the dynamic model error of the robot arm is compensated by using the artificial neural network method to obtain more accurate external force value for the robot arm. In experiment, the accuracy test and the collision test were performed on the detected extern forces of the robot arm. 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