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The mechatronic configuration of the sensory–physical anchoring module. The module features a stiffness-gradient design in its mechanical structure and was actuated using a Mastercool 90066 vacuum pump via an ITV0090-2BN-Q vacuum regulator. The system was able to seamlessly measure tactile and proximity information using a single sensory unit consisting of an FU-69U four-core fibre optic unit and an FS-N11MN fibre optic sensor. (Online version in colour.)
