Concentric Tube Robots: Stabilization through Stiffness Asymmetry

This is the video presentation of the paper below. We discovered that using tubes with asymmetric stiffness can improve the stability of concentric tube robots far more efficiently than prior methods.
C. Rucker, J. Childs, P. Molaei and H. B. Gilbert, "Transverse Anisotropy Stabilizes Concentric Tube Robots," in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2407-2414, April 2022, doi: 10.1109/LRA.2022.3140441.

[@user-lt5no1xt1z]

great work! what did y'all use to cut the really small hole pattern in the tubes? also how did you find the exact EI and GJ values for these asymmetric tubes? do you also think there could be an even better design that minimizes EIx and maximizes GJ, or is this pretty close to the theoretical maximum? i mean, if the workspace is still full, then it really doesn't need to be reduced more, but just asking for a general case.. awesome work