807165.fig.007a
(a)
807165.fig.007b
(b)
807165.fig.007c
(c)
807165.fig.007d
(d)
807165.fig.007e
(e)
807165.fig.007f
(f)
807165.fig.007g
(g)
807165.fig.007h
(h)
807165.fig.007i
(i)
Figure 7: Capsule actuation mechanisms proposed by (a) Karagozler et al. [65], (b) Quirini et al. [66], (c) Quaglia et al. [67], (d) Yang et al. [68] (e) Glass et al. [69], (f) Gao et al. [71], (g) Olympus, Inc. [70], (h) Simi et al. [72], and (i) Yim and Sitti [73].