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. Author manuscript; available in PMC: 2024 Nov 1.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2023 Aug 30;5(4):867–878. doi: 10.1109/TMRB.2023.3310039

TABLE I:

RMSE values by using control ON and control OFF modes in free space.

Method X (mm) Y (mm) Z (mm) 3D (mm) θd(°)
Control OFF 9.72 2.90 5.56 11.57 10.51
Control ON 0.73 0.65 0.22 1.00 2.00