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. 2017 Sep 7;2017:9013508. doi: 10.1155/2017/9013508

Figure 2.

Figure 2

System in action. (a) Arm moving to location of herb drawer. (b) Medicine cabinet being opened. (c) Camera scanning the distribution of herbs in the drawer. (d) Determination of ideal gripping position. (e) Arm retrieving herb. (f) Medicine cabinet being closed.