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. Author manuscript; available in PMC: 2022 Jun 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2022 Feb 21;69(3):1123–1132. doi: 10.1109/TBME.2021.3114638

Fig. 9.

Fig. 9.

Needle tip force (top row), force-velocity index (middle row), and velocity index (bottom row) 5 seconds before and after the moment of puncture for four successful trials