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a RMS between experimental Fn and optimized Fn* as a function of the operative friction coefficient (μop – see text). The cost function used was f2 with i0 = 2. The dotted vertical lines show the μop values for which different digits have a minimum RMS. These minimum μop values range from 0.33 for the R finger to 0.7 for the L finger. b Optimization results for μop = 0.4 and experimental data
