Hongrui FuGang ZhangHan ZengFuxin DuRui Song 0002Application of Feedforward-Cascade Control in an External Pulling Robot for Nerve Restoration.440-4492022ICIRA (3)https://doi.org/10.1007/978-3-031-13835-5_40conf/icira/2022-3db/conf/icira/icira2022-3.html#FuZZDS22