. Author manuscript; available in PMC: 2014 Aug 1.

Published in final edited form as: IEEE ASME Trans Mechatron. 2013 Jun 19;19(3):996–1006. doi: 10.1109/TMECH.2013.2265804

Table I. Optimized Tube Parameters. All Values in mm, κ in mm⁻¹.

Model

torsionless

mechanics-based

Tube

Outer

middle

inner

outer

middle

inner

L_{i}^{s}

100

119.9

165.1

100

112.3

201.6

L_{i}^{c}

63.1

60.0

68.1

74.8

0.0083

0.0182

0.0109

0.0128

2.32

1.68

1.17

2.32

1.68

1.17

1.87

1.35

0.76

1.87

1.35

0.76

Table I. Optimized Tube Parameters. All Values in mm, κ in mm−1.