pone.0232952.g007.tif (4.67 MB)
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HelicoFlex compliant shaft bent in various shapes.

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posted on 14.05.2020, 17:34 by Costanza Culmone, Paul W. J. Henselmans, Remi I. B. van Starkenburg, Paul Breedveld

(a) 90 degrees single curved shape; (b) 160 degrees single curved shape, reaching the maximum bending angle of the compliant shaft in performing a C-shape; (c) double curved with equal radii; (d) double curved with different radii; e) only the distal segment controlled; and (f) only the proximal segment controlled.