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Flexible steerable manipulator utilizing complementary configuration 89
Figure 4.9
(Left) Table showing the data from the stability experiment. (Right) Pictures from the experiment.
Figure 4.10
Measurement of the bending angle of the flexible manipulator prototype. (Left) Table showing the
data from the experiment. (Right) Pictures from the experiment. The maximum bending angle is
about around 147 degrees, which allows a large range of workspace.
distal tip properly. Yet, if it is too slow, the procedure becomes inefficient. The time for the
distal tip to bend in both directions (end-to-end bending) is 7.705 seconds, and the time for
closing of forceps is 2.815 seconds. This quantifies the metric of easy manipulation around
the corners.
4.3.5 Design and intended use
The rationale for the entire forceps design is centered on the needs-metrics matrix
generation. Hence, the design was conceptualized to solve problems and needs identified at
