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Internal sensing integrates position feedback directly within the gripper body for compact design and protected sensors, while external sensing uses separate sensors mounted outside the gripper for easier maintenance and greater flexibility in sensor selection.

Rotational backlash mitigation requires systematic measurement using precision encoders or laser interferometry to quantify angular play (typically 0.1-2.0°), mechanical solutions including anti-backlash gearing with spring-loaded split gears, pneumatic preloading systems that maintain constant torque bias, electronic compensation through servo control with position feedback, and design optimization using direct-drive configurations that eliminate gear trains entirely.