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![PDF] Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/c4d14eb9dbe4a4fbe60e510b27156caef090fd77/2-Figure1-1.png "PDF] Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator | Semantic Scholar")