“…Hence, shape (curve, surface or volume) offsets and corresponding algorithms have been widely studied in Computer-Aided Design and Manufacturing, see [1,2,3,4,5,6,7,8] and references therein for more details. However, free-form NURBS shapes do not possess rational offsets in general and thus suitable approximation techniques, often based on rational curves or surfaces of relatively low degree, are used -see e.g.…”