Fig. 1From: A single motor-driven continuum robot that can be designed to deform into a complex shape with curvature distributionThe parts that make up the prototype and appearance of the prototype. a, b The disc and rod’s cross-sectional shape and the rod’s side. c Driving motor. d Fixture 1 for attaching to the end of the rod and securing the tendon. e Fixture 2 that holds the motor and rod in place. f Pulley for winding the tendon. g Driving the prototypeBack to article page