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. Author manuscript; available in PMC: 2021 Apr 1.
Published in final edited form as: IEEE Robot Autom Lett. 2020 Jan 28;5(2):1712–1719. doi: 10.1109/lra.2020.2969934

Fig. 9:

Fig. 9:

(a) For the joint ‘J3’ in Table I, the gray and green colored solid lines allow us to estimate Fspine, (b) Bidirectional asymmetric notch joints with spine containing a single FBG fiber (joints J2 and J3 in Table I).