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. Author manuscript; available in PMC: 2016 Nov 3.
Published in final edited form as: IEEE ASME Trans Mechatron. 2015 Mar 30;20(6):2876–2889. doi: 10.1109/TMECH.2015.2396894

Fig. 11.

Fig. 11

Cable tension and displacement during bending and unbending of the manipulator. A constant counter-tension of 0.45 N is applied to the opposite cable. There are three regimes of operation (I–III).