The total absolute curvature of closed curves with singularities

In this paper, we give a generalization of Fenchel’s theorem for closed curves as frontals in Euclidean space ${\mathbb{R}}^n$. We prove that, for a non-co-orientable closed frontal in ${\mathbb{R}}^n$, its total absolute curvature is greater than or equal to $\pi$. It is equal to $\pi$ if and only if the curve is a planar locally $L$-convex closed frontal whose rotation index is $1\mathrm{/}2$ or $-1\mathrm{/}2$. Furthermore, if the equality holds and if every singular point is a cusp, then the number $N$ of cusps is an odd integer greater than or equal to $3$, and $N=3$ holds if and only if the curve is simple.