Stiffness patterns

Sensor output

L,M,R

forward

backward

right

left

(0,0,0)

L

H

L

L

(0,0,1)

H

H

H

L

(0,1,0)

H

H

L

L

(1,0,0)

H

H

L

H

(0,1,1)

H

H

H

L

(1,0,1)

H

H

L

L

(1,1,0)

H

H

L

H

(1,1,1)

H

H

L

L