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. Author manuscript; available in PMC: 2024 Aug 16.
Published in final edited form as: IEEE Robot Autom Lett. 2020 Aug 4;5(4):6427–6434. doi: 10.1109/lra.2020.3013900

Fig. 5.

Fig. 5.

a) User interface communicating left side contact detection via the red bar on the left side of the screen and the red ”Contact Triggered” status. b) Experimental setup for the repeated contact detection trials, including the contact which generated the messages on the GUI in (a).