<p>This paper presents a novel sampled-data observer for robotic manipulators subject to internal and external disturbances. The proposed approach is a novel continuous-discrete extended high-gain observer featuring: (i) simultaneous estimation of both system states and disturbances; (ii) explicit consideration of sampled-data measurements, including potential differences in sampling frequencies between the controller and the measurement device, which provides robustness to variations in sampling; (iii) a new type of time-varying gain that significantly reduces the effect of measurement noise on the estimated variables; and (iv) a detailed theoretical analysis that guides parameter tuning to enhance the observer’s estimation accuracy. The proposed observer has been validated through real-time experiments on ERRIC industrial manipulator. The obtained results show clearly the benefits of the proposed observer design and its effectiveness as well as robustness, compared to other solutions for the literature.</p>