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. Author manuscript; available in PMC: 2020 Sep 25.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2019 Apr 22;1(2):77–87. doi: 10.1109/tmrb.2019.2912444

Fig. 2.

Fig. 2.

(a) MINIR-II robotic system consisting of the switching mechanism, linkage mechanism, and the quick-connect module. (b) Detailed CAD model of the switching mechanism.