Figure 6
From: Autonomous navigation of a magnetic colonoscope using force sensing and a heuristic search algorithm
Heat maps showing forces in various locations around an IPM. (a) Without magnetic objects; (b) IPM directly beneath the EPM; (c) IPM is in front of the EPM. Load cell A is stretched while load cell C is squeezed; (d) IPM is located in the bottom right region of the EPM. Load cells A and D are stretched while load cells B and C are squeezed.
