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. Author manuscript; available in PMC: 2015 Sep 22.
Published in final edited form as: IEEE ASME Trans Mechatron. 2010 Oct 21;15(6):906–915. doi: 10.1109/TMECH.2010.2080360

Fig. 1.

Fig. 1

Example of deflection estimation process based on beam theory. A needle is fixed at the base (y = 0 mm), and two point loads of −0.6 N and 0.2 N are applied at the midpoint (y = 75 mm) and at the tip (y = 150 mm) of the needle, respectively. The shaded dots in the curvature plot are sensor locations, which lead to an estimate for g(y).