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. Author manuscript; available in PMC: 2024 Nov 1.
Published in final edited form as: IEEE Robot Autom Lett. 2023 Sep 22;8(11):7495–7502. doi: 10.1109/lra.2023.3318115

TABLE II.

Simulation Parameters for Tubes

Tube 1 Tube 2 Tube 3

Inner Diameter (mm) 0.640 0.953 1.400
Outer Diameter (mm) 0.840 1.270 1.600
Straight Section Length (mm) 450 250 100
Curved Section Length (mm) 150 150 100
Curvature (m−1) 20 10 5
Young’s Modulus, E (GPa) 60 60 60
Shear Modulus, G (GPa) 23.1 23.1 23.1