# Modeling Tube Clearance and Bounding the Effect of Friction in Concentric Tube Robot Kinematics

> Research article (IEEE Transactions on Robotics, 2018) · cited 63× · AI/ML

**Wikidata**: [openalex:W2901701174](https://www.wikidata.org/wiki/openalex:W2901701174)  
**Source**: https://4ort.xyz/entity/modeling-tube-clearance-and-bounding-the-effect-of-friction-in-concentric-tube-robot-kinematics