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. Author manuscript; available in PMC: 2012 Oct 10.
Published in final edited form as: IEEE Trans Robot. 2011 Oct 10;2011(99):1–10. doi: 10.1109/TRO.2011.2165371

Fig. 13.

Fig. 13

Test of the 3-DOF robot in gelatin. (a) Neutral position, (b) Tip link was actuated with a temperature of 50°C, (c) Second link was actuated with a temperature of 60°C and (d) Bottom link was actuated with a temperature of 60°C.