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(top) Impedance vs applied force characteristics with for the two squeeze valves, SV0.5 and SV1.5. Zopen_max refers to the maximum impedance for an ideal SDCS open valve. (bottom) Impedance vs applied force characteristics for the two plunger valves, PV0.75 and PV0.85 with a plunger height of 0.75mm and 0.85mm respectively. Each point in the plot represents a mean value ± S.D. of the measured quantities. n=3
