157642.fig.0016a
(a)
157642.fig.0016b
(b)
157642.fig.0016c
(c)
157642.fig.0016d
(d)
157642.fig.0016e
(e)
157642.fig.0016f
(f)
Figure 16: Actual sensor results when a human hug the robot softly and pat it.