# Continuously Variable Stiffness Mechanism Using Nonuniform Patterns on Coaxial Tubes for Continuum Microsurgical Robot

> Research article (IEEE Transactions on Robotics, 2019) · cited 58× · AI/ML

**Wikidata**: [openalex:W2969990912](https://www.wikidata.org/wiki/openalex:W2969990912)  
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