link with two divisions, with a total length of 80 cm and a radius linearly varying from 4 to 2 cm. We use a Young's modulus of 10 MPa and a Poisson's ratio of 0.5. We enable all the rotational DoF (torsion about the x-axis and bending about the y- and z-axes) and approximate the corresponding strains using a first-order polynomial. No external forces are taken into account for the static equilibrium. We set up an optimization problem to find an appropriate cable path and cable tension, minimizing the error in the manipulator end, and middle point coordinates