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Before going into a long search for measuring extension of a piston, see if you can stop the piston at partial extension, and then check that when it gets there, and you lock it, that there is enough force available to hold the position.
Stopping it where you want it may be easy if the piston is slow (forget flow restrictiers, with those SMC valves how could it be fast?), but locking in that position is hotly debated elsewhere. Many say it can be done, but I don't see many "On our robot , we did thus and so, to get the effect..."
The worst idea may be using those self-coiling springs mounted in a slot in a 10-turn pot's shaft, the far end attatched to the far end (of the piston).
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