https://123dok.org/document/y96l05vy-themotionoftheroboticarmwasconstrainedalongitsy-thenormal-wasaflatwalltheballoonwassupposedtocomeintocontactwith-interactionforces-alltheexperimentssharedthesameexperimentalsetup-experiments-thefirstoneevaluatedtherelationbetweenthevariationoftheinternal-ex.html