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. Author manuscript; available in PMC: 2018 Feb 1.
Published in final edited form as: IEEE ASME Trans Mechatron. 2016 Sep 22;22(1):465–475. doi: 10.1109/TMECH.2016.2612833

Fig. 4.

Fig. 4

Diagram of tip sections coupled with the tendon: (a) shows the projection of tip section; (b) show the free body diagrams of tendon at P2N+2 and the sharp corners P2N+1, where β2N+1 is denoted as the relative angle between two segments of tendon.