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In page HMAC:

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No known extension attacks have been found against the current HMAC specification which is defined as H(keyH(keymessage)) because the outer application of the hash function masks the intermediate result of the internal hash. The values of ipad and opad are not critical to the security of the algorithm, but were defined in such a way to have a large Hamming distance from each other and so the inner and outer keys will have fewer bits in common. The security reduction of HMAC does require them to be different in at least one bit.[citation needed]