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. Author manuscript; available in PMC: 2010 Feb 22.
Published in final edited form as: IEEE Trans Robot. 2009;25(5):1109–1124. doi: 10.1109/tro.2009.2027375

Fig. 16.

Fig. 16

Plots showing the x-, y-, and z-components of the motion measured by the tracking sensor when the robot is stationary and fixed to the heart with both suction grippers. The raw data are shown by the solid line and the filtered drift data by the broken line.