Slip ratio per number of cycles during the experiments into phantoms 5% wt (G5), 5–10% wt (G5-10), and 5%-10%-5% (G5-10-5). (a) Six-wire 0.25-mm prototype (W6-D0.25) actuated with step-by-step motion. (b) Six-wire 0.125-mm (W6-D0.125) prototype actuated with step-by-step motion. (c) Three-wire 0.125-mm (W3-D0.25) prototype actuated with step-by-step motion. The dashed thin lines represent the single measurements, the thick line is the mean value. The area around the mean value represents the standard deviation. The dashed vertical lines indicate the mean number of cycles for the prototypes to reach the different gelatine layers.