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. Author manuscript; available in PMC: 2011 May 10.
Published in final edited form as: IEEE Trans Robot. 2010;26(5):769–780. doi: 10.1109/TRO.2010.2062570

Fig. 2.

Fig. 2

The shape of a precurved rod is defined by an arc-length parameterized frame along the rod’s length. When external loads are applied, the rod deforms under a combination of bending and torsion. Since transverse shear and elongation are neglected, the frame’s z-axis remains tangent to the deformed curve.