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All text and images copyrights BioRobotics Lab, Department of Electrical Engineering, University of Washington.

The reports contained in WWW site are included by the contributing authors as a mechanism to ensure timely dissemination of scholarly/technical information on a non-commercial basis. Copyright and all rights therein are maintained by the authors, despite the fact they have offered this information electronically. It is understood that all individuals copying this information will adhere to the terms/ constraints invoked by each author's copyright.


If the publication is published in an IEEE Journal, the following clause applies:

(c) 1998 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the Institute of Electrical and Electronics Engineers.

If the publication is published in an ASME Journal, the following clause applies:

(c) 1998 ASME. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale, or to reuse any copyrighted component of this work in other works must be obtained from the American Society of Mechanical Engineers.

Biorobotics Lab Reports may not be copied for commercial redistribution, republication, or dissemination without the explicit permission of the Biorobotics Laboratory at the University of Washington and the authors. Please contact Blake Hannaford blake@u.washington.edu if you have any questions regarding these publications.