Figure 9From: General Kinetostatic Modeling and Deformation Analysis of a Two-Module Rod-Driven Continuum Robot with Friction ConsideredDeformations of Conf5 and Conf6 with different load: a Deformation of Conf5 with 150 g, 250 g, − 150 g and − 250 g loads, b Errors along rod arc of Conf5, c Deformation of Conf6 with 150 g, − 150 g and − 250 g loads, d Errors along rod arc of Conf6Back to article page