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. Author manuscript; available in PMC: 2016 Oct 13.
Published in final edited form as: Proc IEEE Inst Electr Electron Eng. 2015 Mar 24;103(2):205–224. doi: 10.1109/JPROC.2014.2385105

Fig. 6.

Fig. 6

Active drug delivery demonstration of a soft capsule millirobot (see Table 1 for its specifications) inside stomach. (a)–(c) Time snapshots of the drug diffusion during the active compression of the drug chamber with the remote magnetic actuation [92].