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. Author manuscript; available in PMC: 2010 Jun 25.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2009;2009:5938–5941. doi: 10.1109/IEMBS.2009.5334751

Fig 2.

Fig 2

Orientation of destabilizing haptic environments (A) aligned and (B) orthogonal to maximum endpoint stiffness ellipsoid; (C) 3D stiffness ellipsoid having primary, secondary, and tertiary axes.