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. Author manuscript; available in PMC: 2015 Jan 9.
Published in final edited form as: Proc IEEE Sens. 2014 Nov;2014:698–701. doi: 10.1109/ICSENS.2014.6985095

Fig. 5.

Fig. 5

(a) A representative cannulation trial from each speed setting. The sharp drop in force signifies vessel puncture and generates an alarm to warn the operator. (b,c) Force statistics for 8 trials per speed setting.