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. Author manuscript; available in PMC: 2015 Jun 16.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2014;2014:6854–6858. doi: 10.1109/EMBC.2014.6945203

Fig. 5.

Fig. 5

Plot of force vs string length for left and right bends. A string length of 0 represents no bending. while a negative string length indicates pulling on the cable to bend the manipulator. The manipulator with the tool requires a larger force to reach same string length (i.e., the overall stiffness of the system increases with a tool in the lumen).