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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 13.

Figure 13

Free-body diagram of the forces acting on the needle tip as it interacts with the elastic medium. Pinput does not necessarily act at the center of the needle cross section.