# Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes

> Research article (IEEE Robotics and Automation Letters, 2016) · cited 17× · AI/ML

**Wikidata**: [openalex:W2510109373](https://www.wikidata.org/wiki/openalex:W2510109373)  
**Source**: https://4ort.xyz/entity/designing-stable-concentric-tube-robots-using-piecewise-straight-tubes