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. Author manuscript; available in PMC: 2014 May 6.
Published in final edited form as: IEEE Trans Biomed Eng. 2014 Feb;61(2):522–534. doi: 10.1109/TBME.2013.2283501

Fig. 2.

Fig. 2

Flexure concept 1 (a), 2 (b), and 3 (c) to increase sensitivity of axial force sensing and their 2D unfolded flexure pattern (d), (e), and (f). Tube outer diameter is 0.8 mm, and inner diameter is 0.6 mm.