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. Author manuscript; available in PMC: 2018 Feb 1.
Published in final edited form as: IEEE Trans Robot. 2016 Nov 22;33(1):22–37. doi: 10.1109/TRO.2016.2622278

Fig. 1.

Fig. 1

Effect of torsional twisting when two curved tubes are combined. Tube coordinate frames are denoted by Ri(s). The relative z-axis twist angle between frames α(s) varies from a maximum α(a) at the base to a minimum α(b) at the tip. The central angles βi = θtip,i are proportional to the precurvature and to the tube length L = b – a.