Equivalent negative stiffness mechanism using three bundled needles inspired by mosquito for achieving easy insertion.

Seiji Aoyagi, Yutaka Takaoki, Hiroki Takayanagi, Chih-hao Huang, Takahiro Tanaka, Masato Suzuki, Tomokazu Takahashi, Tsutomu Kanzaki, Takuya Matsumoto

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