Fig. 3: In vitro characteristics of the wearable magnetic field sensor and the IBCS.
From: A magnetic soft robotic system for intelligent bladder volume control
a The wearable magnetic field sensor undergoes various mechanical deformations, including bending, twisting, and stretching. b The schematic of the in vitro setup. c The magnetic flux density characteristics of the three working areas (0°, 30°, 60°) during bladder expansion. d The database of magnetic flux density and bladder volume for the most sensitive channel at each working angle. e The intravesical pressure changes induced by the IBCS during urination. f Comparison of bladder volume monitored by IBCS, actual injected volume, and voided volume.
