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van der Weijde, J.O. (author), van Ostayen, R.A.J. (author), Vallery, H. (author)Coil springs are a common element in compliant actuators. For closed-loop control, the force of the coil spring has to be measured. Typically, deflection sensors indirectly measure this force. Implicitly, this assumes that the coil spring is a pure stiffness, without any mass. In reality, internal oscillations can occur due to impacts or other...journal article 2017