** Steering strategies for wasp-inspired, self-propelled needles - methods **

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

** Experiment protocol **

The experimental procedure for each measurement inside the gelatin phantoms was executed in the following sequence of steps: 
1. Place a new gelatine phantom in the box.
2. A plastic tube was inserted manually through a hole at the front side of the box, for 5 mm inside the gelatine, to ensure the needle inserted in a straight direction.
3. The smallest tube of the telescopic system and the needle were inserted manually through the plastic tube for 30 mm inside the gelatine, to ensure the needle was inserted in a straight direction. After that, the tube was retracted by 25 mm so that it does not move during the experiments.
4. The actuation sequence was started for 25 cycles.  
5. After the measurement, the needle was cleaned with water. 

