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. 2017 Dec 13;12(12):e0187441. doi: 10.1371/journal.pone.0187441

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© 2017 Ongaro et al

This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

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Fig 1 — A maximal current of 3.5 A is used to activate the electromagnetic coils. The setup generates maximum magnetic fields and gradients of 15 mT and 60 mT/m, respectively. Right inset: The developed PacMan™-like scenario used for the comparison of the motion control of grippers in dynamic unpredictable environments. Left insets, from top to bottom: Microscopy images of: 750 μm two-finger gripper, 100 μm six-finger gripper, 250 μm six-finger gripper, 980 μm six-finger gripper. All scale bars are 100 μm. Unless noted, measurements are reported in the form: mean value ± standard deviation.