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. 2024 Feb 9;14:3309. doi: 10.1038/s41598-024-53914-3

Figure 2.

Figure 2

Design principle of the a monolithic 2 DOFs bending section based on the tubular base geometry with alternating cuts showing (a) an isometric view of the bending section, (b) side view of the undeformed section with two flexural hinges for in-plane bending, (c) side view of the deformed section with two hinges, and (d) side view of a deformed bending section with four flexural hinges for in-plane bending, showing a closer approximation to a circular arc line.