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. Author manuscript; available in PMC: 2010 May 27.
Published in final edited form as: IEEE Trans Robot. 2007 Dec 1;23(6):1240–1246. doi: 10.1109/TRO.2007.909825

Fig. 9.

Fig. 9

Force-displacement curves of a teleoperator during probing of a soft object along normal to the surface of the object. The force curves include the force-displacement response of probing the soft object, and the force-displacements at the end effector of the master manipulator when friction is compensated and the same response when friction is not compensated.