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3L ijL + λ + ij L + 3 L ijL +
D
7
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3L − /L + ij7 L + 3 L λ 7 HL = \ L + − ij L + șÖ L
3 L + =
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E F G
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Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 0-7695-2310-2/05 $20.00 © 2005 IEEE
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