{"id":"W7117305100","doi":"10.1002/aisy.202500786","title":"Contact Force Estimation of Continuum Robots without Embedded Sensors: A Review","year":2025,"lang":"en","type":"article","venue":"Advanced Intelligent Systems","topic":"Soft Robotics and Applications","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"Toronto Rehabilitation Institute; University of Toronto","funders":"Natural Sciences and Engineering Research Council of Canada; Canada Research Chairs","keywords":"Contact force; Robot; Haptic technology; Estimation; Robotics","routes":{"ca_aff":true,"ca_fund":true,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0008406771,0.00123378,0.001595696,0.002697016,0.0003065083,0.001112878,0.001446507,0.001388853,0.001915638],"category_scores_gemma":[0.001926289,0.0007839933,0.0009705492,0.002636109,0.0006756023,0.001950521,0.0007715814,0.0008489512,0.001130508],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0003622539,"about_ca_system_score_gemma":0.0007766715,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0009857584,"about_ca_topic_score_gemma":0.0007008915,"domain_scores_codex":[0.9993674,0.00006993081,0.00008857872,0.0001841952,0.0002601939,0.00002970603],"domain_scores_gemma":[0.9984981,0.000983524,0.0001760356,0.00004981164,0.0002599403,0.000032549],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"design_other","study_design_gemma":"not_applicable","study_design_scores_codex":[0.00006839162,0.0001045041,0.0005482922,0.02643448,0.0001745246,0.0001884956,0.0001370706,0.006843905,0.008088013,0.007599365,0.007167985,0.942645],"study_design_scores_gemma":[0.00003459688,0.0009166141,0.004671699,0.01160979,0.0007582865,0.003907321,0.0004172406,0.03391883,0.01942733,0.01393832,0.9100195,0.0003804625],"study_design_candidate":"not_applicable","study_design_consensus":null,"genre_codex":"review","genre_gemma":"review","genre_scores_codex":[0.001384707,0.9716239,0.02398125,0.0001732637,0.0002227546,0.00002748637,0.00005681913,0.0000688195,0.002461033],"genre_scores_gemma":[0.01287902,0.9679951,0.01680266,0.0001865781,0.0004402216,0.00005439765,0.0001492874,0.0000241754,0.001468661],"genre_candidate":"review","genre_consensus":"review","teacher_disagreement_score":0.002697016,"threshold_uncertainty_score":0.006408453,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01057246070652558,"score_gpt":0.2836520611456718,"score_spread":0.2730796004391462,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}