[1] D TSETSERUKOU, N KAWAKAMI, S TACHI. Design， control and evaluation of a whole-sensitive robot arm for physical human-robot interaction. International Journal of Humanoid Robotics, 6, 699-725(2009).

[2] S TRIPUTEN, A GOPAL, T WEBER et al. Methodology to analyze the accuracy of 3D objects reconstructed with collaborative robot based monocular LSD-SLAM, 185-190(3).

[3] 康杰, 贾凯, 邹风山. 基于协作机器人仿真环境的关节轨迹预测方法. 科学技术与工程, 19, 180-184(2019).

     J KANG, K JIA, F SH ZOU et al. Joint trajectory prediction method based on collaborative robot simulation environment. Science Technology and Engineering, 19, 180-184(2019).

[4] X SH XU, Y J LI, G C WANG et al. Design of six-axis force piezoelectric sensor with spoke structure. Opt. Precision Eng., 28, 2655-2664(2020).

     徐兴盛, 李映君, 王桂从. 轮辐结构压电式六维力传感器设计. 光学 精密工程, 28, 2655-2664(2020).

[5] 晏家梁. 基于光纤光栅的医疗手术机器人腕部六维力/力矩感知研究(2023).

     J L YAN. Research on Six-axis Force/moment Perception of Medical Surgery Robot Wrist Based on Fiber Bragg Grating(2023).

[6] A R AHMAD, T WYNN, C Y LIN. A comprehensive design of six-axis force/moment sensor. Sensors, 21, 4498(2021).

[7] M H PU, Q LUO, Q LIANG et al. Modeling for elastomer displacement analysis of capacitive six-axis force/torque sensor. IEEE Sensors Journal, 22, 1356-1365(2022).

[8] M Y CAO, S LAWS, F R Y BAENA. Six-axis force/torque sensors for robotics applications： a review. IEEE Sensors Journal, 21, 27238-27251(2021).

[9] C N HO, J B SONG. Collision detection algorithm robust to model uncertainty. International Journal of Control， Automation and Systems, 11, 776-781(2013).

[10] A WAHRBURG, K D LISTMANN et al. Motor-current-based estimation of Cartesian contact forces and torques for robotic manipulators and its application to force control. IEEE Transactions on Automation Science and Engineering, 15, 879-886(2018).

[11] L J MA, L L DONG, Y HAN et al. A method of sensorless collision detection based on motor current for robot manipulator. International Journal of Applied Electromagnetics and Mechanics, 64, 237-244(2020).

[12] F CAO, P D DOCHERTY, S L NI et al. Contact force and torque sensing for serial manipulator based on an adaptive Kalman filter with variable time period. Robotics and Computer-Integrated Manufacturing, 72, 102210(2021).

[13] J K MIN, K H AHN, H C PARK et al. A novel reactive-type joint torque sensor with high torsional stiffness for robot applications. Mechatronics, 63, 102265(2019).

[14] U KIM, C Y MAENG et al. High-stiffness torque sensor with a strain amplification mechanism for cooperative industrial manipulators. IEEE Transactions on Industrial Electronics, 69, 3131-3141(2022).

[15] Y J LI, G C WANG, S ZHANG et al. Design and calibration of spoke piezoelectric six-dimensional force/torque sensor for space manipulator. Chinese Journal of Aeronautics, 37, 218-235(2024).

[16] L QI, D P YANG, B S CAO et al. Design of a ring-type bearingless torque sensor with low crosstalk error. IEEE Sensors Journal, 22, 18376-18383(2022).

[17] X A PAN, H G WANG, Y JIANG. Development of a built-in torque sensor in harmonic drive gears for robots. Chinese Journal of Scientific Instrument, 35, 154-161(2014).

     潘新安, 王洪光, 姜勇. 一种机器人谐波减速器内嵌扭矩传感器的研制. 仪器仪表学报, 35, 154-161(2014).

[18] 吉利. 基于响应面法的航天器有限元模型修正方法研究(2020).

     L JI. Research on Updating Method of Spacecraft Finite Element Model Based on Response Surface method(2020).

[19] M W HATTAB. On the use of data transformation in response surface methodology. Quality and Reliability Engineering International, 34, 1185-1194(2018).

[20] 张凤玲, 张旭, 艾延廷. 基于响应面法的高温应变计敏感栅结构优化研究. 仪器仪表学报, 44, 144-155(2023).

     F L ZHANG, X ZHANG, Y T AI et al. Sensitive grid structure optimization of high temperature strain gauge based on response surface methodology. Chinese Journal of Scientific Instrument, 44, 144-155(2023).