deformation sensing means having a collocated sensor associated with {HEAD ~ the member} in {TAIL ~ a region} of influence of the actuator means, and a nearly collocated sensor associated with the member outside the region of influence of the actuator; and 
in
deformation sensing means having a collocated sensor associated with { HEAD ~ the member } in { TAIL ~ a region } of influence of the actuator means , and a nearly collocated sensor associated with the member outside the region of influence of the actuator ; and
OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH