@article{article, title  = {{A Frictional Contact-Pattern-Based Model for Inserting a Flexible Shaft Into Curved Channels}},

 publisher = {{Institute of Electrical and Electronics Engineers (IEEE)}},

 url = {{https://doi.org/10.1109/tmech.2021.3111701 }},

 year = {{2021}},

 month = {{10}},

 author = {{Liu J and Cao L and Miyasaka M and Phee SJ}},

 doi = {{10.1109/tmech.2021.3111701}},

 volume = {{27}},

 journal = {{IEEE/ASME Transactions on Mechatronics}},

 issue = {{5}},

 pages = {{2556-2567}},

 note = {{Accessed on 2025/11/21}}}