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. Author manuscript; available in PMC: 2013 Aug 1.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2012 Aug;2012:916–919. doi: 10.1109/EMBC.2012.6346081

Figure 3.

Figure 3

Curvature vs. duty cycle for all 10 needles in Gel A. The colors represent different needle material (red: nitinol; blue: stainless steel; green: piano wire). The marker styles represents the different needle radii for each material, from thinnest to thickest: ‘·’, ‘*’, ‘+’. There are four nitinol needles (as opposed to three for stainless steel and piano wire), thus the thickest nitinol needle is represented by the marker ‘o’.