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. Author manuscript; available in PMC: 2020 Feb 1.
Published in final edited form as: Auton Robots. 2018 Jun 11;43(2):435–448. doi: 10.1007/s10514-018-9769-7

Fig. 2.

Fig. 2

The minor diameters of the plastic bellows were wrapped with insulated conductive wire (red and blue). The inductance of the circuit measures the bellows’ length.