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Fig. 5. Needle model. From: Controlling a Robotically Steered Needle in the Presence of Torsional Friction.
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Fig. 1. Experimental setup. From: Controlling a Robotically Steered Needle in the Presence of Torsional Friction.
Fig. 6. Response to chirp function. From: Controlling a Robotically Steered Needle in the Presence of Torsional Friction.
Fig. 2. Torsion behavior in multiple materials. From: Controlling a Robotically Steered Needle in the Presence of Torsional Friction.
Fig. 3. Torsion behavior for insertion to multiple depths. From: Controlling a Robotically Steered Needle in the Presence of Torsional Friction.
Fig. 4. Torsion behavior during continuous motion. From: Controlling a Robotically Steered Needle in the Presence of Torsional Friction.
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