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Figure 3
(a) Touch probe with tool-changer interface, compliance- and collision-detection system, 1-Wire identification chip (under the cover, similar to the gripper base), heating-control elements and touch tip. (b) Goniometer-alignment tool shown from the palpating side (left) and goniometer-mount side (right) with grounding electrical wire.

Journal logoSTRUCTURAL
BIOLOGY
ISSN: 2059-7983
Volume 73| Part 10| October 2017| Pages 841-851
https://doi.org/10.1107/S2059798317013596
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