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. Author manuscript; available in PMC: 2026 Apr 25.
Published in final edited form as: J Med Robot Res. 2025 Apr 25;10(1-2):2450005. doi: 10.1142/s2424905x24500053

Table II.

Optimal Discrete and Brickwork Designs of Tube 1 and theirs corresponding stiffness from Fea and Experiment

Design 1 Design 2 Design 3 Design 4 Brickwork
Design Variable α (degs) −8.5 −7.7 −11.5 −15 5
β (degs) 15.7 12.7 17.8 16 N/A
θ (degs) 68.74 68.74 68.74 45 N/A
gap (mm) 2.02 1.4 2.07 0.865 N/A
h (mm) 0.21 0.2 0.2 0.21 0.2
n 6 4 6 4 N/A
n 4 4 6 4 4
Results FEA Exp. FEA Exp. FEA Experiment FEA Experiment FEA Experiment
EINmm2 1076 1119.6 1035 1095.8 1100 1219.3 1104 1187.8 1003 978.5
GJ(Nmm2) 12748 13566.2 12303 11761.4 10734 11097.5 10643 11114.1 8035 8688.6
AEN 2226 1824 1235 1005.3 2326 1796.1 1019 1099.3 1012 965.4