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Figure 4
Cryo-grippers. (a) Gripper base equipped with a NewPin/miniSPINE tip that includes a tool-changer interface, a 1-Wire identification chip, a pneumatic jack inside the body, a compliance- and collision-detection system, heating-control elements and a pneumatic port for inner deicing of the gripper. (b) NewPin/miniSPINE tips holding a NewPin and a miniSPINE Pin. (c) SPINE/SPINEplus tip empty and holding a SPINE pin.

Journal logoSTRUCTURAL
BIOLOGY
ISSN: 2059-7983
Volume 73| Part 10| October 2017| Pages 841-851
https://doi.org/10.1107/S2059798317013596
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