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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

TABLE IV.

Amount of Wire Pull for Postures of Three Tip Heights

Amount of wire pull (mm)
Tip height n** Ldist L Ldist R Lprox L Lprox R
Maximum 15 N.A.* 17.4 −7.4† N.A. *
Median 15 N.A.* 17.4 −5.0† N.A. *
Minimum 20 N.A. * 17.4 N.A. * 10.9
*

No wires

†

Negative value is amount of wire feeding.

**

The n column denotes the number of trials of bending action.