Model parameters for the simulations.

The parameter τ is the time constant for curvature filtering, β is the proportional impedance on curvature, β2 is the impedance on axial motion, kt, dt and mt are the stiffness, damping and mass of interior point truss elements, α is the non-linear Duffing stiffness, k1, d1 and m1 are the linear stiffness, damping and mass of the Duffing oscillator, f0 is the forcing term amplitude, ω is the forcing term frequency, k2, d2 and m2 are the stiffness, damping and mass of the linear oscillators, Δt is the time step for the time integration scheme (BM and interior point position update), Δtλ is the time step for eigenvalue calculation and orientation update, K is the number of nodes (and elements) used to discretise c, and KG is the number of Gauss points for numerical integration in space along c.