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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. 3 — Contour map of the error between the ideal “zero channel width” length of one cable segment L_Ri, and the approximate length L_RSi, where error = L_Ri − p + (θ_i + θ_i₊₁)r_x + 2r_z. The error is less than five micrometers over nearly the entire range of operation (nominal segment length is 810 micrometers). Contour units are micrometers.