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. Author manuscript; available in PMC: 2010 Mar 11.
Published in final edited form as: IEEE ASME Trans Mechatron. 2007 Aug 1;12(4):399–407. doi: 10.1109/TMECH.2007.901928

Fig. 3.

Fig. 3

Double crank and slider mechanism. (a) DC&S module interacting with a human finger. (b) Kinematics of the mechanism. (c) Multiple C&S modules with two panels. (d) Multiple C&S modules with four panels. (e) Multiple C&S modules with eight panels.