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The village was founded in the 13th century by the Lords of Staufen. In the early 14th century Staufen was already considered a city. The Staufen family ruled the city until 1602, when Staufen became part of Austria.
In 1806 the city became part of Baden.
The city did not have its own seal in the 15th century. The oldest known seal dates from the late 16th century and shows the arms of the Staufen family, three measuring cups. The present arms were derived from the Staufen family arms. To distinguish the arms, the stars were added.
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