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. Author manuscript; available in PMC: 2019 May 15.
Published in final edited form as: IEEE Trans Robot. 2016 Jan 19;32(1):138–149. doi: 10.1109/TRO.2015.2504981

TABLE III.

Helical Corrugation Configurations and Resulting Rotations

Helix Direction Outer or Inner
Helix 		Rotation Direction
Clockwise Outer Counterclockwise
Clockwise Inner Clockwise
Counterclockwise Outer Clockwise
Counterclockwise Inner Counterclockwise