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. Author manuscript; available in PMC: 2014 Aug 12.
Published in final edited form as: Int J Rob Res. 2010 Apr 1;29(10):1263–1280. doi: 10.1177/0278364910367543

Table 1.

Physical Properties of the Tube and Wire used in the Simulation

Outer tube Inner wire
Young’s modulus (GPa) 58 58
Shear modulus (GPa) 21.5 21.5
Inner diameter (mm) 2.01 0
Outer diameter (mm) 2.39 1.60
Length (mm) 140 200
Curvature (mm−1) 0.0099 0.0138