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P. Laferrière, P. Payeur, "Proximity and Contact Sensing with Instrumented Compliant Wrist for Close Guidance of Robotic Manipulators", Proceedings of the 3rd International Electronic Conference on Sensors and Applications (ECSA 2016), Sciforum Electronic Conference Series, vol. 3, 2016, E009, 15-30 Nov. 2016.