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. Author manuscript; available in PMC: 2015 Oct 1.
Published in final edited form as: IEEE ASME Trans Mechatron. 2014 Dec 24;20(5):2252–2263. doi: 10.1109/TMECH.2014.2372635

Fig. 16.

Fig. 16

Result of posture validation with tension input. Error bars signify standard error of x and z positions among ten trials. A, Single-tendon layout: the measured postures (black circles) were performed with the tension of 0.51 N; B, Antagonistic-tendons layout: the measured postures (black circles) were performed with tension of 0.99 N in the tendon on the bending side of the robot and 0.48 N in the tendon on the extending side of the robot.