TY - JOUR A1 - Wang, W. A1 - Yu, L. A1 - Yang, J. T1 - Toward force detection of a cable-driven micromanipulator for a surgical robot based on disturbance observer JO - Mech. Sci. J1 - MS VL - 8 IS - 2 SP - 323 EP - 335 Y1 - 2017/11/15 PB - Copernicus Publications SN - 2191-916X UR - https://ms.copernicus.org/articles/8/323/2017/ L1 - https://ms.copernicus.org/articles/8/323/2017/ms-8-323-2017.pdf DO - 10.5194/ms-8-323-2017 ER -