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Vermeulen, M. (author), Wisse, M. (author)We present a design for a manipulator that is intrinsically mechanically safe, i.e. it can not cause pain (let alone damage) to a human being even if the control system has a failure. Based on the pressure pain thresholds for human skin, we derive a pinching safety constraint that limits the actuator torque, and an impact safety constraint that...journal article 2010