A dynamical system with surface attractor (evolution over time and arm-index). (a) The grey surface on the left represents the attractor surface corresponding to the observed motion of the continuum arm, while the white surface is the reproduced motion of the arm. The right figure shows the arm configurations in 2D Cartesian space at different time steps. (b) The left figure shows the evolution in time of a link with a given arm-index s along the kinematic chain and the corresponding configurations (on the right). (c) The figures show the pose of the continuum arm for a given time step t.