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. Author manuscript; available in PMC: 2021 Apr 1.
Published in final edited form as: IEEE Robot Autom Lett. 2020 Jan 28;5(2):1712–1719. doi: 10.1109/lra.2020.2969934

Fig. 5:

Fig. 5:

Micro/Meso-scale Robot Joints: (a) Schematic of the neutral axes of the spine, the FBG fiber, and the composite structure, (b) Schematic of the notch and integrated fiber.