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. Author manuscript; available in PMC: 2016 Jan 31.
Published in final edited form as: IEEE ASME Trans Mechatron. 2014 Oct 16;20(4):1616–1623. doi: 10.1109/TMECH.2014.2360886

Fig. 16.

Fig. 16

Top and side view of the automated insertion process. (a) Initialize alignment, ex =3500 μm. (b) During alignment, ex =1000 μm. (c) Alignment complete, ex =257 μm. (d) During insertion, ex =200 μm. (e) Insertion complete, ex =76 μm.