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. Author manuscript; available in PMC: 2010 Jul 17.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2008 Oct 19;2008:936–941. doi: 10.1109/BIOROB.2008.4762825

Fig. 7.

Fig. 7

Results from my algorithm modified to account for elastic tissue. I decreased the tip lag by 88%. The error bars represent the standard deviation over 5 trials. (Half bars used to prevent overlap and increase clarity.)