. Author manuscript; available in PMC: 2011 Mar 9.

Published in final edited form as: IEEE Int Conf Robot Autom. 2009 Jul 6;2009:3097–3102. doi: 10.1109/ROBOT.2009.5152617

TABLE I. Properties of the needle insertions with five different velocities.

v	f_r (N)	δ_r (mm)	W (m J)	l_c (mm)
1	1.37±0.11	11.04±0.34	7.56	10.55
5	1.35±0.107	10.98±0.044	7.41	10.3
20	1.108±0.15	10±0.93	5.54	7.19
50	0.85±0.34	7.5±1.41	3.18	3.29
100	0.88±0.08	7.04±0.42	3.125	3.18