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. Author manuscript; available in PMC: 2023 Nov 1.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2022 Oct 19;4(4):922–934. doi: 10.1109/tmrb.2022.3215522

Fig. 8:

Fig. 8:

Comparison between the pure kinematics (PK), the modified kinematics (MK), and the Prandtl-Ishlinskii (PI) model applied to the (a) bending joint, (b) proximal torsion joint, and (c) distal torsion joint.