TY - Journal of Systems Engineering and Electronics A1 - Minghong ZHU, Shu XIAO, Fei YU T1 - Torque estimation for robotic joint with harmonic drive transmission based on system dynamic characteristics Y1 - 2022-12-24 JF - Journal of Systems Engineering and Electronics JO - Journal of Systems Engineering and Electronics SP - 1320 EP - 1331 VL - 33 IS - 6 UR - https://www.jseepub.com N1 - 10.23919/JSEE.2022.000151 ER -