Fig. 9From: A single motor-driven continuum robot that can be designed to deform into a complex shape with curvature distributionTarget shapes and deformed shapes of simulations and prototypes. Deformed shapes are achieved by optimization of Penetration Model (i). The point indicated by the arrow is the inflection point of the simulations and prototypes. The blue points are the inflection points of the target shapes. a Circular curve. b Sin curve. c \(h_f(x)\)Back to article page