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Peak anal insertion force = 1.8 kg.
A needle insertion force model is developed to predict the insertion force for lancet needle.
The total insertion force decreased with needle tip force.
One is to minimize the needle insertion force.
Here, the input vector λ was the total insertion force f needle.
The needle tip force was a constant 0.5 N while the total insertion force increased.
In phase II, the total insertion force waveforms exhibited several peaks.
The estimation error and the total insertion force were shown in Figure 9.
A condition is that mating and insertion force is minimum in a process of assembly.
The friction force was obtained by subtracting the needle tip force from the total insertion force.
In phase II, the total insertion force fell sharply as the muscle bundle was cut.
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