Figure 3 (IMAGE)

Kanazawa University

Figure 3

Caption

Gripping force behavior with a simulated tumor of silicone rubber at a gripping speed of 2.5°/s. Detection test of the blood pulsation in the period of gripping process. During the closing of the gripper, gripping force increases as shown in Figure 3 (a). In the process of increasing gripping force, pulsation of the blood vessel appears as cyclic force fluctuation as shown in Figure 3(b).

Credit

Kanazawa University

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