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Motion controllers, potentiometers, tacho-generators and encoder are used as joint sensors, whereas strain-gauge based sensing is used at the end-effector ___location for contact force control.
==Internal sensor*==
It is the part of the robot.Internal sensors measure the robot's internal state. They are used to measure its position, velocity and acceleration.
=== Position sensor ===
Position sensors measure the position of a joint (the degree to which the joint is extended). They include:
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