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. Author manuscript; available in PMC: 2014 May 16.
Published in final edited form as: IEEE Trans Biomed Eng. 2014 Feb;61(2):513–521. doi: 10.1109/TBME.2013.2283369

Fig. 9.

Fig. 9

Schematic representations of the viscous forces between the retrieval unit and a trapped particle/μ-gripper: (a) top-view and (b) side-view.