. Author manuscript; available in PMC: 2024 Apr 1.

Published in final edited form as: IEEE Trans Robot. 2022 Sep 9;39(2):1373–1387. doi: 10.1109/tro.2022.3201393

TABLE I.

Error values for the static and dynamic experiments.

Experiment	Signal	Total Error (mm)	Error over deflected intervals (mm)	Error over not-deflected intervals (mm)
Static	KF (LSQ)	0.94	1.55	0.36
	KF (AD, γ = 0.9)	0.78	1.22	0.36
	KF (RILSQ)	0.93	1.53	0.36
	KF (RIAD, γ = 1 × 10⁻⁴)	0.90	1.46	0.36
	KF (Offline)	0.94	1.54	0.36
	KF (RIAD + RILSQ Figs. 15 and 16)	0.91	1.49	0.35
	Forward Kinematics	3.42	6.55	0.40
Dynamic	KF (LSQ)	0.77	0.95	0.44
	KF (AD, γ = 1)	0.62	0.70	0.47
	KF (RILSQ)	0.77	0.95	0.44
	KF (RIAD, γ = 5 × 10⁻⁷)	0.77	0.95	0.44
	KF (Offline)	0.81	1.02	0.44
	Forward Kinematics	2.98	4.38	0.44