Figure 12
A view of a curved segmented actuator with tracking markers placed along its bending length.The view presents a curved segmented actuator extending from a fixed support at the left and bending downwards towards the lower right. Repeated rectangular segments are separated by narrow gaps along the outer edge. Nine circular tracking markers are positioned along the actuator from its base towards the free end. Vertical supports and mounting components appear beside the actuator.

Example of the points considered for the calculation of various qN in the optimization process

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