Table 1.

Summary of the design optimization results

	Constant-curvature CR	Optimized CR
Fixed base
Joint bending limits	${20}^{\circ }$ for all the joints	${40}^{\circ }$ for the first two joints. $5^{\circ }$ for the rest
Objective function	36.60	18.86
Moving base up to 5 mm
Joint bending limits	${20}^{\circ }$ for all the joints	${40}^{\circ }$ for the first two joints. $5^{\circ }$ for the rest
Objective function	35.24	17.65
Moving base up to 7.5 mm
Joint bending limits	${20}^{\circ }$ for all the joints	${35}^{\circ }$ for the first two joints. $5^{\circ }$ for the rest
Objective function	25.44	6.5
Moving base up to 10 mm
Joint bending limits	${20}^{\circ }$ for all the joints	${30}^{\circ }$ for the first two joints. $5^{\circ }$ for the rest
Objective function	2.66	0.11

The objective function values have been scaled by dividing them by the maximum possible value and multiplied them by 100 for clarity