Fig. 22

Test of the control of the device to verify that the movement of the system follows the motion of the joystick. a The probe was attached rigidly 0.3 m behind its tip to test the effectiveness of the control. b With the fixation restriction, we were able to generate circumferences of 0.3 m applying maximum thrusting force with the maximum inclination in the joystick for different longitudinal orientation of the probe