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Journal of Robotics
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2021
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Article
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Fig 15
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Research Article
Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints
Figure 15
Cable tension during the bending motion of the proximal segment. (a) Bending angle
φ
(rad). (b) Bending angle
θ
(rad).
(a)
(b)