  Wire actuation in tendon-driven continuum robots enables the transmission of
force from a distance, but it is understood that tension control problems can
arise when a pulley is used to actuate two cables in a push-pull mode. This
paper analyzes the relationship between angle of rotation, pressure, as well as
variables of a single continuum unit in a quasi-static equilibrium. The primary
objective of the quasi-static analysis was to output pressure and the analysis,
given the tensions applied. Static equilibrium condition was established, and
the bisection method was carried out for the angle of rotation. The function
for the bisection method considered pressure-induced forces, friction forces,
and weight. {\theta} was 17.14{\deg}, and p was 405.6 Pa when Tl and Ts were
given the values of 1 N and 2 N, respectively. The results seemed to be
consistent with the preliminary design specification, calling for further
simulations and experiments.
