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Finally, joint angle measurement, movement law evaluation and object grasping experiments are performed to verify the validity of the designed finger. The experimental results show that the root-mean-square (RMS) of the DIP, PIP and MCP angle measurement errors are 0.36°, 0.59° and 0.32°, respectively. The designed finger is able to grasp objects with different shapes stably.Chemotaxis is a spermatozoa guidance mechanism demonstrated in vitro in several mammalian species including porcine. This work focused on follicular fluid (FF), peri
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