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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 6.

Figure 6

Curvature vs. duty cycle for nine needles in Gel D, plotted with the same formatting as in Fig. 3. The 0.13 mm nitinol wire was excluded from this gel due to buckling of the uninserted portion of the needle.