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. 2022 Aug 23;12:14359. doi: 10.1038/s41598-022-18778-5

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Force required for irrigation. (A) Images of the output waveform of the required force (% torque) when the operation was performed at 20 mm/s in water. The force required in the pulling direction was indicated as plus and the force required in the pushing direction was indicated as minus. (B–F) Multiple comparisons of average values of the force required for pulling and pushing at a velocity of 20, 40, 60, 80, and 100 mm/s.