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. Author manuscript; available in PMC: 2024 Aug 16.
Published in final edited form as: IEEE Robot Autom Lett. 2020 Aug 4;5(4):6427–6434. doi: 10.1109/lra.2020.3013900

Fig. 8.

Fig. 8.

Teleoperation experiment with an expert gastroenterologist using the HJ device. The stomach phantom is shown in the image for illustrative purposes, but was covered during the experiments.