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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. 7.

Fig. 7

Three-tube example illustrating that torsionally-rigid model predicts tubes of piecewise-constant curvature combine to form a robot of piecewise-constant curvature.