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. Author manuscript; available in PMC: 2011 Dec 3.
Published in final edited form as: Rep U S. 2010 Dec 3;2010:2325–2332. doi: 10.1109/IROS.2010.5651240

Table 2.

Properties of Tubes Used in Experiments.

Tube 1 Tube 2
OD (mm) 2.77±0.01 2.41±0.01
ID (mm) 2.55±0.01 1.97±0.01
kx,y=EI (N·m2) - Calculated 3.34×10−2 3.67×10−2
kx,y=EI (N·m2) - Measured 2.85×10−2 3.75×10−2
Length (mm) 150 150
Pre-curvature ûy (mm−1) (ûx = ûz = 0) 1/233 1/248