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. Author manuscript; available in PMC: 2013 Sep 13.
Published in final edited form as: World Haptics Conf. 2013;2013:645–650. doi: 10.1109/WHC.2013.6548484

Figure 5.

Figure 5

FE results using skin measurements #1-4. A-C: displacement trace, force trace and maximum compressive stress at receptor site, under displacement-controlled mechanical stimuli. D-F: displacement trace, force trace and maximum compressive stress at receptor site, under force-controlled mechanical stimuli.