. Author manuscript; available in PMC: 2020 Oct 1.

Published in final edited form as: IEEE Trans Haptics. 2019 May 2;12(4):563–570. doi: 10.1109/TOH.2019.2914441

Table 2.

List of four experiments conducted, the materials used in each test, and each testing apparatus.

Experiment	Purpose	Materials	Insertion Force Measurement Apparatus
1	Measure needle insertion forces into a cadaver thigh	Cadaver thigh tissue	Hand-held force sensing syringe with 6-axis force transducer
2	Determine material properties for use in the LCNIS haptic cartridge	PTFE, Polycarbonate, PVC, UHMW, ABS, FEP	Linear actuator with six axis force transducer
3	Create and validate LCNIS haptic cartridge force prediction equation	LCNIS haptic cartridge containing PTFE, Polycarbonate, PVC, UHMW, ABS	Linear actuator with six axis force transducer
4	Create LCNIS haptic cartridge mimicking a cadaver	LCNIS haptic cartridge containing PTFE, PVC, ABS	Linear actuator with six axis force transducer