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. Author manuscript; available in PMC: 2014 Mar 18.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2012;2012:1401–1404. doi: 10.1109/EMBC.2012.6346201

Figure 2.

Figure 2

The force sensing module and its fabrication steps. First, three half tubes were located on the nitinol tube (upper). Second, FBGs were inserted through half tubes to achieve axi-symmetric configuration (lower).