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. Author manuscript; available in PMC: 2021 Jun 8.
Published in final edited form as: IEEE Robot Autom Lett. 2020 Jun 25;5(3):4874–4881. doi: 10.1109/LRA.2020.3005129

Table I. Dimensions of the NiTi Tubes.

OD (mm) ID (mm) Ls (mm) Lc (mm) R (mm)
ITleft 1.12 0.80 17.27 31.20 9.00
OTleft 1.80 1.52 0.00 26.84 33.00
ITright 1.12 0.80 17.12 26.75 9.00
OTright 1.80 1.52 0 17.42 22.00
Camera 1.80 1.52 5.00 13.89 38.40