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. Author manuscript; available in PMC: 2022 Feb 18.
Published in final edited form as: IEEE ASME Trans Mechatron. 2021 Mar 9;27(1):407–417. doi: 10.1109/tmech.2021.3064954

Fig. 6.

Fig. 6.

Experimental setup for the force model validation test. Note that the background is white and the plastic catheter was darkened to work seamlessly with the MATLAB image processing techniques.