From: A single motor-driven continuum robot that can be designed to deform into a complex shape with curvature distribution
Unit [mm]
j
w
\(d_{1}\)
\(d_{2}\)
\(d_{3}\)
\(d_{4}\)
\(d_{5}\)
\(d_{6}\)
(a) Circular curve
4
49
45
15
20
30
50
(b) Sin curve
25
10
(c) \(h_f(x)\)
2
16
40
35