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. Author manuscript; available in PMC: 2025 Jan 1.
Published in final edited form as: IEEE Trans Robot. 2023 Oct 26;40:554–572. doi: 10.1109/tro.2023.3327811

TABLE V.

Tip Position Error Statistics of Case 1

Loading Case Max. Error (mm) Min. Error (mm) Mean Error (mm) Std. Dev. (mm)
Unloaded 1.12 0.07 0.54 0.24
Tip Load IP 0.90 0.14 0.47 0.29
Mid Load IP 0.44 0.10 0.26 0.14
Tip Load OOP 2.81 0.36 1.24 0.7