AASE	Airbag axial and surface enhancement
CR	Continuum robot
SCC	Segmented Constant Curvature
SLS	Selective Laser Sintering
SLA	Stereolithography
SMA	Shape-memory alloys
$D_{max}$	The maximum outer envelope diameter of the robot
$D_{\mathrm{r}\mathrm{e}\mathrm{q}}$	The maximum allowable diameter specified by the task scenario
$w_{\mathrm{m}\mathrm{i}\mathrm{n}}$	The minimum feature size of the robot
$w_{\mathrm{p}\mathrm{o}\mathrm{c}}$	The minimum achievable size limit of the manufacturing process
$\theta$	Bending angle
$R$	Bending radius
$L$	The arc length of the segment when bent
$d_1$	The axial characteristic thickness of the segment related to the “ solid segment”
$d_2$	The axial geometric spacing of the segment related to the “ notch segment”
$b$	The minor axis length of the elliptical notch
$l$	The length of the continuum joint
${\theta }_0$	Maximum bending angle
$R_0$	Minimum bending radius
$F$	The equivalent load at the joint end
$P$	The input air pressure of the airbag
$\mu$	The equivalent friction coefficient between the outer surface of the airbag and the inner wall of the skeleton
$b$	The equivalent width of the contact surface
${\displaystyle \frac{d_1}{d_1+d_2}}$	The effective contact ratio of the unit length
$x$	The distance from the centroidal axis of the continuum to the middle plane of the airbag
$P_{min}$	The minimum pressure
$z$	The extra airbag length required to be accommodated by the joint
$c$	The manufacturing and assembly error allowance
${\sigma }_{max}$	The maximum equivalent stress at the maximum bending angle of the rigid joint
$\left[\sigma \right]$	Allowable Safety Strength of Selected Materials