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. Author manuscript; available in PMC: 2021 Apr 1.
Published in final edited form as: IEEE Robot Autom Lett. 2020 Feb 10;5(2):2642–2649. doi: 10.1109/lra.2020.2972880

Fig. 3.

Fig. 3.

Experimental bench test setup consisting of the Hydrojet Endoscopic Device. A 3D printed holder anchors the base of the device while the waterjets at the tip cause deflection of the soft elastomer body.