. 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 IV.

Mechanical Properties of Case 1 Sheaths

	${(E I)}_{i, x}$ (Ncm²)	${(E I)}_{i, y}$ (Ncm²)	${(G J)}_{i}$ (Ncm²)	$x_{i} (s_{i})$ (mm)	$α_{i}$ (deg)	$β_{i}$ (deg)
Tube 1	17.83	1.25	1.08	−1.09	0	0
Tube 2	20.70	1.85	1.71	0.94	0	0