Experimental external force estimation using a non-linear observer for 6 axes flexible-joint industrial manipulators. - Jinna Qin; François Léonard; Gabriel Abba (ASCC, 2013)

Real-Time Trajectory Compensation in Robotic Friction Stir Welding Using State Estimators. - Jinna Qin; François Léonard; Gabriel Abba (IEEE Trans. Control. Syst. Technol., 2016)