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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. 4.

Fig. 4

(a) Schematic showing relationship between the tendon length, l1 and radius of bending arc to the x-axis, Rx (b) Geometric relationship between R and δ, and the joint variables used in the kinematics model, θ1, θ2, and d3