Hongbing Li Kundong Wang Zheng Li 0012 Kenji Kawashima Evgeni Magid External Force Estimation of Impedance-Type Driven Mechanism for Surgical Robot with Kalman Filter. 2214-2219 2018 ROBIO https://doi.org/10.1109/ROBIO.2018.8664753 conf/robio/2018 db/conf/robio/robio2018.html#LiWLKM18a