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Chen, Bang-Yen (2000), "Riemannian submanifolds", Handbook of differential geometry, Vol. I, North-Holland, Amsterdam, pp. 187–418, doi:10.1016/S1874-5741(00)80006-0, MR1736854. See in particular section 21.1, "Rotation index and total curvature of a curve", pp. 359–360.
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Chen, Bang-Yen (2000), "Riemannian submanifolds", Handbook of differential geometry, Vol. I, North-Holland, Amsterdam, pp. 187–418, doi:10.1016/S1874-5741(00)80006-0, MR1736854. See in particular section 21.1, "Rotation index and total curvature of a curve", pp. 359–360.
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