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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

TABLE I.

Measured and Assumed Physical Quantities for Experimental Tubes

Tube 1 (Inner) Tube 2 (Outer)
Inner Diameter (mm) 1.25 2.00
Outer Diameter (mm) 1.75 2.37
Straight Length (mm) 122.7 30.7
Curved Length (mm) 206.9 102.5
Young’s Modulus (E) (GPa) 60 60
Shear Modulus (J) (GPa) 23.1 23.1