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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. 7.

Fig. 7

IRIS assembly: (a) one disc-like element placed between two marks 1 mm apart on a ruler. (b) the IRIS distal dexterous unit in the neutral position. (c) the IRIS in a bending position close to 90°. (d) a user holding the complete IRIS assembly. (e) IRIS assembly without partial housing, showing the actuation unit.