Science Robotics

The PDF file includes:

• Text
• Fig. S1. Time history of step and sigmoid responses.
• Fig. S2. Experimental setup and system architecture.
• Fig. S3. Measurement of laser position repeatability.
• Fig. S4. Optical component schematic.
• Legends for movies S1 to S8

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Other Supplementary Material for this manuscript includes the following:

• Movie S1 (.mp4 format). Principle of operation.
• Movie S2 (.mp4 format). Device assembly.
• Movie S3 (.mp4 format). Hysteresis compensation.
• Movie S4 (.mp4 format). Sigmoid profiling of control inputs.
• Movie S5 (.mp4 format). High-speed trajectory following.
• Movie S6 (.mp4 format). Complex trajectory following.
• Movie S7 (.mp4 format). Multimodal control.
• Movie S8 (.mp4 format). Colonoscope integration and deployment.