Sensorless contact forces estimation method for robotic manipulators using dual-stage temporal-residual neural network compensation

1 Jan 2026·
Molong Duan
Molong Duan
Yi Zhou
Yi Zhou
Yim Ho Cheung
Yim Ho Cheung
· 1 min read
Type
Publication
Patent
publications

Duan, M., Zhou, Y., and Cheung, Y.H., IP.PA.12872, “Sensorless contact forces estimation method for robotic manipulators using dual-stage temporal-residual neural network compensation,” US Provisional Application 64/041,767 (filed Apr 2026); CN Application 202611125274.2 (filed Jul 2026).

Robotics Control
Molong Duan
Authors
Molong Duan
Assistant Professor
Molong Duan leads the Manufacturing and Aerospace Automation Lab at HKUST. His research spans dynamic-system modeling and control, robotic and additive manufacturing, continuous-fiber composites, flexible aircraft, and VTOL control.
Yi Zhou
Authors
Yi Zhou
PhD Student
Robot modeling and control
Yim Ho Cheung
Authors
Yim Ho Cheung
MPhil Student
Robot modeling and control