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

[2] TRIPUTEN S, GOPAL A, WEBER T et al. Methodology to analyze the accuracy of 3D objects reconstructed with collaborative robot based monocular LSD-SLAM[C], 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[J]. 科学技术与工程, 19, 180-184(2019).

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

[4] XU X SH, LI Y J, WANG G C et al. Design of six-axis force piezoelectric sensor with spoke structure[J]. 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[J]. 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[D](2023).

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

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

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

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

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

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

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

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

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

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

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

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

[17] PAN X A, WANG H G, JIANG Y. Development of a built-in torque sensor in harmonic drive gears for robots[J]. 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[J]. 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[D](2020).

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

[19] HATTAB M W. On the use of data transformation in response surface methodology[J]. 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[J]. 仪器仪表学报, 44, 144-155(2023).

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