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. 2017 Dec 28;10(3):408–425. doi: 10.1007/s12559-017-9536-7

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© The Author(s) 2017

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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Fig. 5 — Left: The overall robotic set-up for the data collection, Right: The placements of the four contact microphones (two of them on the table and the other two on the robot’s arm)