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It is shown, how whole\u2010body tactile feedback can extend the capabilities of robots during dynamic interactions by providing information about multiple contacts across the robot's surface. Specifically, an uncalibrated skin system is used to implement stable force control while simultaneously handling the multi\u2010contact interactions of a user. The system formulates control tasks for force control, tactile guidance, collision avoidance, and compliance, and fuses them with a multi\u2010priority redundancy resolution strategy. The approach is evaluated on an omnidirectional mobile\u2010manipulator with dual arms covered with robot skin. 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