. Author manuscript; available in PMC: 2025 Jan 1.

Published in final edited form as: IEEE Trans Robot. 2023 Oct 26;40:554–572. doi: 10.1109/tro.2023.3327811

TABLE X.

Shape Validation RMSE

CPPR Case	Loading Case	Actuation Configuration	RMSE (mm)
Case 1	Unloaded	$q_{2} = 0 m m$	0.127
		$q_{2} = 3 m m$	0.424
		$q_{2} = - 3 m m$	0.564
	Tip Load	$q_{2} = 0 m m$	0.450
	Tip Load	$q_{2} = 1 m m$	0.543
Case 2	Unloaded	$q_{2} = 0 m m$	0.466
		$q_{2} = 1 m m$	0.469
		$q_{2} = - 1 m m$	0.300
	Tip Load	$q_{2} = 0 m m$	0.360
	Tip Load	$q_{2} = 1 m m$	0.366