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The First Interlaced Continuum Robot, Devised to Intrinsically Follow the Leader

Fig 6

Probe experimental assessment: push/pull force and stiffness.

(A) Examples of 3D poses obtained by differential rod pulling (top row: front views; bottom row: corresponding side views). (B) Probe configuration for the push/pull force tests, and set-up for the push tests. (C) Measured trends of the push/pull force versus time (three acquisitions). (D) Probe configuration for the stiffness tests (bottom), and relevant measures (top) compared with FEA simulations (graph inset).

Fig 6

doi: https://doi.org/10.1371/journal.pone.0150278.g006