Who first defined curvature using an approximating circle?

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The German mathematician Gottfried Leibniz was the first to define the curvature of a curve at a given point in terms of an approximating circle, which he introduced in 1686.1

Leibniz referred to this circle as the osculating circle—derived from the Latin osculare, meaning "to kiss"—and defined the curvature as the reciprocal of the circle's radius, or 1/r. In this framework, a curve that is straighter requires a circle with a larger radius, resulting in a lower curvature value, while a straight line is considered a circle with an infinite radius and zero curvature.1