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This division is based on a comparison of the force at contacts with the average (over all contacts) force.
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The city, the proximity and danger of contact, force them from us.
Contact force (N).
Particle contact force (N).
(f_{z0}): contact force in the z direction.
The standard deviation of contact force directly reflects the fluctuation range of contact forces.
a Geometry of contact area, b contact force configuration.
Then, we applied contact-mode AFM with increasing contact force.
When moving forward, the robot keeps detecting the contact force.
Fig. 14 Maximum shoulder joint contact force (* P < 0.05).
As discussed in "Determination of contact force" section, the accuracy of the contact force can be improved by redundant sensing.
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