** Design and evaluation of a ball spline wasp-inspired needle - data **

Author: Jette Bloemberg
Department of BioMechanical Engineering, Faculty of Mechanical Engineering, Delft University of Technology
Contact information: j.bloemberg@tudelft.nl


** Description of the data in this dataset **

Data.xlsx contains the raw data sets of the phantom experiments. 

tab: "Velocity tests": Experimental results aimed to investigate the performance behavior of the needle actuated for different actuation velocities 
tab: "Gelatin concentration tests": Experimental results aimed to investigate the performance behavior of the needle actuated for different gelatin phantoms
tab: "Needle insertion force tests": Force measurements using a force gauge to show the insertion force on each needle segment during insertion of the needle bundle in 5-wt% and 10-wt% gelatin samples
tab: "Actuation system force tests": Force measurements using a force gauge to show the insertion force exerted on the needle segments by the actuation system
tab: "Theoretical critical load: Computation theoretical critical load for each needle segment