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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 17.

Figure 17

Distributed compressive load acting on a needle shaft as it interacts with an elastic medium. The frictional forces have been ignored in the model. Inset: Forces acting on the bevel tip, where Pi and Qi are the resultant forces along the bevel edge.