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. Author manuscript; available in PMC: 2015 Jun 24.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2014;2014:6521–6525. doi: 10.1109/EMBC.2014.6945122

Figure 4.

Figure 4

Components of tip velocity and position of SDM based on normalized string length. The characterized range of normalized string length is between 0.5 and 1 based experimental tests and SDM bending [9]