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. Author manuscript; available in PMC: 2013 Apr 1.
Published in final edited form as: Int J Rob Res. 2012 Apr;31(5):588–603. doi: 10.1177/0278364912442429

Table 1.

Data points selected along the trajectory and corresponding desired bending angles

η α1 α2

0.202
0.303 9.5° 6.5°
0.424 13°
0.505 14.8° 9.8°
0.606 18° 11.8°
0.707 20.8° 14°
0.818 24° 16°
0.899 27° 18°
1 30° 20°