I made low cost and space less terminals on PCB for ICSP connections.
Wind copper wire(0.55mm) around bar(1.5mm) in coils.
Cut off each peaces.
Place PCB footprints as 2.0 x 1.2 mm pads.
The hook of IC Clip and The connector.
IC Clip, called Hook Clip or Test Probr at eBay.