Fig. 1 Schematic of mosquito proboscis showing five components: labrum tip, pharynx, mandible, maxilla, and labium [ 8 ] More about this image found in Schematic of mosquito proboscis showing five components: labrum tip, pharyn...

Fig. 2 ( a ) Three-dimensional printed polymer sheets with the mosquito proboscis-inspired jagged and the smooth surface, ( b ) cross section geometry of the sheet with the parameters: maxilla angle ( M A ) of 170 deg, length (L) of 180 mm, outer thickness ( t 1 ) of 0.45... More about this image found in ( a ) Three-dimensional printed polymer sheets with the mosquito proboscis-...

Fig. 3 Robotic needle insertion test setup including linear stage, force sensor, NI data acquisition system, phantom tissue, and active needle with the SMA wire, thermocouple, and position sensor More about this image found in Robotic needle insertion test setup including linear stage, force sensor, N...

Fig. 4 Insertion force measured at the needle base during insertion into phantom tissue More about this image found in Insertion force measured at the needle base during insertion into phantom t...

Fig. 5 Needle tip deflection at 150 mm insertion depth in phantom tissue More about this image found in Needle tip deflection at 150 mm insertion depth in phantom tissue

Fig. 6 Active needle tip deflection tracking in phantom tissue for different cannulas More about this image found in Active needle tip deflection tracking in phantom tissue for different cannu...

Fig. 1 System architecture process flow More about this image found in System architecture process flow

Fig. 2 GUI for master controller: ( a ) operation mode selection page and ( b ) operation mode 2 control page More about this image found in GUI for master controller: ( a ) operation mode selection page and ( b ) op...

Fig. 3 UIF glove palmar and dorsal sides (units in inches) More about this image found in UIF glove palmar and dorsal sides (units in inches)

Fig. 4 coppeliasim virtual environment: ( a ) a scene showing the v-ARH with cylindrical objects in the coppeliasim virtual environment and ( b ) representative Lua control script for the v-ARH More about this image found in coppeliasim virtual environment: ( a ) a scene showing the v-ARH with cyli...

Fig. 5 Underactuated ARH with contact sensors (units in inches) More about this image found in Underactuated ARH with contact sensors (units in inches)

Fig. 6 Grasp trajectories based on the user's hand pose captured using the UIF glove while synthesizing a grasp in coppeliasim More about this image found in Grasp trajectories based on the user's hand pose captured using the UIF glo...

Fig. 7 Timelapse sequence of a user-synthesized grasp in coppeliasim using the v-ARH More about this image found in Timelapse sequence of a user-synthesized grasp in coppeliasim using the v...

Fig. 8 Timelapse sequence of a user-synthesized grasp executed by the user using the p-ARH in control method 1 More about this image found in Timelapse sequence of a user-synthesized grasp executed by the user using t...

Fig. 9 Timelapse sequence of the grasp executed by the user using the p-ARH in control method 2 More about this image found in Timelapse sequence of the grasp executed by the user using the p-ARH in con...