Figure 1From: General Kinetostatic Modeling and Deformation Analysis of a Two-Module Rod-Driven Continuum Robot with Friction ConsideredGeneral constraint on disks and rods of continuum robot with multi-module and multi-segment: a Overview, b1–c1 Constraint on DiskwN, b2–c2 Constraint on Diskwi, d1–d3 Boundary value on each rodBack to article page