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. Author manuscript; available in PMC: 2018 Dec 1.
Published in final edited form as: IEEE Trans Robot. 2017 Jul 27;33(6):1386–1397. doi: 10.1109/TRO.2017.2719035

Fig. 10.

Fig. 10

Bending motion of the base, middle, and end segments (a) when the base segment was moved independently, followed by independent actuation of the middle segment (b) when the base segment was moved independently, followed by independent actuation of the end segment