Centres of Curvature

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Suppose we have a space curve $r(t)=\left(x(t), y(t), z(t)\right)$ and we consider the locus of all centres of curvature of $r$. First, would this be the correct formula? $$r(t) + {1 \over \kappa(t)} N(t)$$ (where $N$ is the normal vector in the TNB-frame and $\kappa$ is curvature). And is there a name for this curve?

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For planar curves, it is called the evolute of the curve.

For a discussion of the spatial case, see

Dmitry Fuchs, Evolutes and Involutes of Spatial Curves, The American Mathematical Monthly, Vol. 120, No. 3 (March 2013), pp. 217-231 2013. DOI: 10.4169/amer.math.monthly.120.03.217