Fig. 9.

Comparison of model prediction and experimentally determined backbone points for the unloaded and loaded cases where actuators are set to D₁ = 154.7 mm, D₂ = 30.7 mm, α₁ = 135°, and α₂ = 0°. The direction of the 0.981 N applied force is shown by an arrow at the tip of the deformed model prediction. These examples are representative of our dataset—their tip errors (approximately 3 mm) are near the 2.91-mm mean tip error over all 80 experiments.