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On the robustness of a model-based inverse force identifica..:

Álvarez-Briceño, Ricardo P. ; Naets, Frank ; Desmet, Wim.
Journal of the Brazilian Society of Mechanical Sciences and Engineering.  42 (2020)  10 - p. , 2020
Link: https://doi.org/10.1007/s40430-020-02583-0