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Force variations measured by the Hytrel coated probes during penetration in L7/S1 (first column), L6/L7 (second column) and L5/L6 (third column) spaces: (a) original data; (b) the same of (a) where positive values are set to zero; (c) derivative of (b) ; (d) processed signal given by the multiplication between (b) and (c). The inset in (d) are the close-up images of (a) and (d) in correspondence of the force drops.
