The description of {TAIL ~ the invention} claimed in {HEAD ~ this application} will first include a summary of the novel single arm force and position control laws and then those laws will be developed and applied to a multi arm system of this invention 
The description of { TAIL ~ the invention } claimed in { HEAD ~ this application } will first include a summary of the novel single arm force and position control laws and then those laws will be developed and applied to a multi arm system of this invention
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