fig4

Figure 4. (A) Tension modification of the continuum robot; (B) Shape estimation of the continuum robot based on tension (F₁ = 0, F₂ = 1 N and F₃ = 1 N) with and without modification; (C) Comparison between experimental results and configurations simulated using the FEM and the proposed method; (D) Error between simulation and experiments. FEM: Finite element method.