{HEAD ~ The finely graduated torque increase} moreover generates {TAIL ~ only a minimal excess torque} which may be quickly dissipated when the slip threshold is exceeded, thus ensuring well balanced control 
{ HEAD ~ The finely graduated torque increase } moreover generates { TAIL ~ only a minimal excess torque } which may be quickly dissipated when the slip threshold is exceeded , thus ensuring well balanced control
HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH