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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. 11.

Fig. 11

Constant (left) and optimal (right) precurvature tube pairs. Inset shows transmission length of inner tube that passes through collar of outer tube. Location a can be computed by (16) using parameters of Table II. The theoretical shapes (semitransparent green) for the relaxed parameters are superimposed on the top of the tube pairs.