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. Author manuscript; available in PMC: 2015 Sep 22.
Published in final edited form as: IEEE Int Conf Robot Autom. 2015 May;2015:1764–1769. doi: 10.1109/ICRA.2015.7139426

Fig. 5.

Fig. 5

The scale-up model of the IRIS distal dexterous unit: (a) scale-up model mounted on the experimental setup. (b) scale-up model in a bending position of over 100°. (c) the experimental setup: blue box shows the IRIS mounted on a fixture, as shown in the close-up view in (a). Compression springs are used to apply pretension. The pretension can be adjusted by translating linear stage 1. The actuation wire can be translated by linear stage 2, while the actuation force can be measured by the force sensor mounted on linear stage 2.