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November 19, 2013IEEE Transactions on RoboticsOpen Access

A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery

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YKYong-Jae KimSCShanbao ChengSKSangbae Kim

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Kim et al. (2013) studied this question.

synapsesocial.com/papers/6a04e8f7aa90da843cc91042https://doi.org/10.1109/tro.2013.2287975
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