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. Author manuscript; available in PMC: 2020 Feb 1.
Published in final edited form as: Auton Robots. 2018 Jun 11;43(2):435–448. doi: 10.1007/s10514-018-9769-7

Fig. 7.

Fig. 7

The geometry of the joint was simulated with a level displacement d. Our models predict that using two circuits along the length of the joint improves the estimation of deformations like these.