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. Author manuscript; available in PMC: 2020 Apr 1.
Published in final edited form as: IEEE Robot Autom Lett. 2019 Jan 30;4(2):1424–1430. doi: 10.1109/LRA.2019.2896451

fig. 2.

fig. 2.

Design of the bending sensor: (a) one segment of the MINIR-II robot, (b) four bending sensors integrated with the robot, (c) top view showing the placement of the bending sensors, and (d) design of the bending sensor and the points (shown as red) where the sensor is attached with Bottom and Top Disk, (e) cut cross-section of the MINIR-II segment and the location of the bending sensor investigated in this study.