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. 2021 Feb 15;8(1):59–70. doi: 10.1089/soro.2019.0011

FIG. 4.

FIG. 4.

(a) Experimental setup with active actuation and sensing components. (b) Characterization setup for miniaturized actuation (left) and sensing (right) unit with commercial displacement and force sensors, respectively. Color images are available online.