{"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":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0001219658,0.0001490316,0.0003820852,0.00006821072,0.00003078039,0.00001527867,0.0001290554,0.00005024706,0.00001154673],"category_scores_gemma":[0.00007850907,0.0001439113,0.00007474705,0.0002612298,0.00001556524,0.00007665085,0.00001427594,0.00008426928,0.00004189846],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00006412181,"about_ca_system_score_gemma":0.00001415094,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00001107227,"about_ca_topic_score_gemma":0.00000378764,"domain_scores_codex":[0.9990073,0.0000203698,0.0005479198,0.0001558033,0.0001095889,0.000158954],"domain_scores_gemma":[0.9992852,0.0001027501,0.0001064241,0.0003527749,0.000111897,0.00004098872],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.000004837913,0.00002322094,0.0001393307,0.003316403,0.00008957077,5.197925e-7,0.000069432,0.9703396,0.008747123,0.009668231,0.002298964,0.005302768],"study_design_scores_gemma":[0.0004519005,0.000055182,0.0002268399,0.01509674,0.0001746398,0.00001008133,0.00026697,0.8913216,0.06919599,0.0007365717,0.02200332,0.0004601626],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.009031919,0.02677676,0.9539229,0.00006592456,0.0007389166,0.001533849,0.00001354343,0.0003116658,0.007604502],"genre_scores_gemma":[0.9917101,0.00322544,0.003038441,0.00004815295,0.00002345133,0.0001832859,0.00002788688,0.00002530832,0.001717906],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.9826782,"threshold_uncertainty_score":0.5868533,"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."}}