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Detected contact force for all nine sensors depending on joint stiffness and joint velocity. The blue line shows 0% pretension (corresponding to a stiffness of 0.23 Nm/rad and 0.12 Nm/rad in the base and distal joint, respectively) and the orange line 12.5% pretension (corresponding to a stiffness of 0.34 Nm/rad and 0.16 Nm/rad in the base and distal joint, respectively).
