Page 438 - Flexible Robotics in Medicine
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432 Chapter 19
Figure 19.12
Goldrill GE2 with a new change from the previous version: increased cross-sectional dimensions
for better strength; increased hole size for drill-bit-holding tube for better compatibility; refined
curvature based on test results on the bare drill (refer to design verification report); a reduced
number of segments for easier fabrication.
19.4.5 Strength of tendon wires
The tendon wires must be able to withstand the pulling force, which keeps them in tension
to hold the bending segment together.
