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. Author manuscript; available in PMC: 2023 Feb 1.
Published in final edited form as: IEEE Robot Autom Lett. 2023 Feb;8(2):1005–1012. doi: 10.1109/LRA.2023.3234823

Table I. Growing Robot Parameters In Simulation.

Catheter Sheath tendon
Material Nitinol LDPE Nitinol
Inner Dia. 1.50 mm 2.95 mm -
Outer Dia. 1.85 mm 3 mm 0.35 mm
Full Length 95 mm 95 mm 95 mm
Thickness 0.175 mm 35 um -
Total Mass 0.215 g 0.056 g 0.059 g
Young’s Modulus 20 GPa 0.3 GPa 20 GPa
Mesh Stiffness 2e10* N/m 3e8* N/m 2e9* N/m
Mesh Damping 400* Ns/m 40* Ns/m 400* Ns/m
*

identified values through experiments.