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. 2011 Dec 6;11(12):11495–11509. doi: 10.3390/s111211495

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© 2011 by the authors; licensee MDPI, Basel, Switzerland.

This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).

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Figure 8. — Thimble calibration. (a) Comparison between normal forces measured by ATI and Flexiforce sensors located at the finger base. (b) Comparison between tangential forces measured by ATI and Flexiforce sensors located at the finger sides.