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. Author manuscript; available in PMC: 2019 Mar 15.
Published in final edited form as: IEEE ASME Trans Mechatron. 2012 Nov 16;19(1):131–140. doi: 10.1109/TMECH.2012.2224359

Fig. 4.

Fig. 4.

Schematic of the finger contact rods with strain gauges. In this configuration, 45° from the neutral axis, the gauges reject the bending moment and transduce the precise normal contact force.