Fixed and Sliding FBG Sensors-Based Triaxial Tip Force Sensing for Cable-Driven Continuum Robots. - Zecai Lin; Huanghua Liu; Xiaojie Ai; Weidong Chen 001; Anzhu Gao; Zhenglong Sun 001; Yun Zou; Guang-Zhong Yang; Hao Wu; Huan Jia (ICRA, 2022)