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. Author manuscript; available in PMC: 2011 Oct 1.
Published in final edited form as: Int J Rob Res. 2010 Nov;29(13):1640–1660. doi: 10.1177/0278364910369714

Figure 10.

Figure 10

Scaled needle tips of Ø 1.5 cm used in experiments to measure the forces between a needle tip and an elastic medium. We used needles with bevel angles of 10°, 15°, 30°, 45°, and 60° (shown left to right).