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. Author manuscript; available in PMC: 2011 Apr 1.
Published in final edited form as: IEEE Trans Robot. 2010 Apr 1;26(2):209–225. doi: 10.1109/TRO.2009.2035740

Fig. 4.

Fig. 4

Effect of torsional twisting when two curved tubes are combined. Tube coordinate frames are denoted by Fi(s). The relative z-axis twist angle between frames α(s) varies from a maximum α(0) at the base to a minimum α(L) at the tip. The central angles βi are proportional to the precurvature and to the tube length L.