. Author manuscript; available in PMC: 2024 Oct 1.

Published in final edited form as: IEEE Trans Biomed Eng. 2023 Sep 27;70(10):2895–2904. doi: 10.1109/TBME.2023.3268279

Table 1.

Comparison of Bending Stiffness to Tube Properties

Tube Material	OD [mm]	ID [mm]	ROC [mm]	LOC [mm]	$F_{bend}$ [N]

Nitinol¹	2.2	1.5	20	27	111.84
Nylon²	2.2	1.5	20	27	4.96
Nylon³	6	4	20	20	107.44

^1.

The nitinol tube used in [48].

^2.

A nylon tube with the same properties, RoC, and LoC of (1).

^3.

The materials properties of our tube with the same RoC and LoC of (1).