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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. 9.

Fig. 9

Bending motion of all segments when the end segment was actuated in the z-direction after the middle segment was moved independently for (a) 0° (b) 10° (c) 20° and (d) 30° in the xy-plane