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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. 7.

Fig. 7

(a) Experimental setup of forward kinematics verification (b) Position of the base, middle and end segments when the tendon connected to the base segment was pulled in 1 mm increment until 7 mm (c) Position of the base, middle and end segment when the tendon connected to the middle segment was pulled in 1 mm increment until 7 mm (d) Position of the middle and end segment when the tendon connected to the end segment was pulled in 1 mm increment until 7 mm