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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. 5.

Fig. 5

Diagram of mid-section coupled with the tendon: (a) shows the mid-section with Ui; (b) show the free body diagrams of tendon at the sharp corners- P2i+2 and P2i+1, where β2i+2 and β2i+1 are denoted as the relative angle between two segments of tendon.