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. Author manuscript; available in PMC: 2021 Feb 1.
Published in final edited form as: IEEE Trans Robot. 2019 Oct 29;36(1):222–239. doi: 10.1109/tro.2019.2946726

Fig. 3.

Fig. 3.

Experimental setup including the ortho-snake with lateral notches providing planar bend for the CM and equipped with embedded FBG shape sensors (as the ESU), the ortho-snake’s actuation unit, FBG interrogator, and an overhead camera (as the EIU) [23].