. Author manuscript; available in PMC: 2016 Feb 3.

Published in final edited form as: IEEE Trans Robot. 2015 Jan 23;31(1):67–84. doi: 10.1109/TRO.2014.2378431

TABLE V.

Robot Design Parameters for CPC.

Robot Architecture	1/k_i [mm]	Φ_i [mm]	L_i [mm]
(a) (successful)
variable curvature	18	54	54
variable curvature	18	52	106
fixed curvature	∞	10	116
(b) (successful)
variable curvature	19	58	58
fixed curvature	19	58	116
fixed curvature	∞	10	126
(c) (unsuccessful)
fixed curvature	20	37	37
variable curvature	22	65	102
fixed curvature	∞	10	112
(d) (unsuccessful)
fixed curvature	22	35	35
fixed curvature	26	68	103
fixed curvature	∞	10	113