ResearchBenchmarksTracking on continuum robot tracking Medium Custom 5-segmentTracking on continuum robot tracking Medium Custom 5-segmentFollow5.84Emean (mm)HYBRID5.77246.22876.6857.1413Mar 11, 2026Evaluation resultsMethodMethodLinksEmean (mm)T95% (steps)Chatter (mm)Cost (mm)HYBRIDcontroller=HYBRIDcontroller=HYBRID2026.035.841010.6221,558.6PURE_NNcontroller=PURE_NNcontroller=PURE_NN2026.036.321270.6461,749PHYcontroller=PHYcontroller=PHY2026.037.531060.0622,078