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. Author manuscript; available in PMC: 2021 Jun 8.
Published in final edited form as: IEEE Robot Autom Lett. 2020 Jun 25;5(3):4874–4881. doi: 10.1109/LRA.2020.3005129

Fig. 3. The experimental setup, comprising the mechatronics and phantom eye. The eye bulges out of the orbit in the picture for visualization purposes.

Fig. 3

The inlet depicts A: the micro-gripper, B: the needle and C: the camera while the illustration shows the design and working principle of the micro-gripper. The NiTi tube and the cylindrical socket are semi-transparent for better visualisation of the SS wire.