Figure 7. Manually applied motion (‘slow-moderate’).

Motion data recorded for each degree-of-freedom during the 20-min phantom study involving slow-moderate manually applied motion. Continuous, arbitrary motion was applied for 2–3 min intervals, interspersed by approximately 1 min intervals when the phantom was kept stationary. Data are shown in the scanner coordinate system and represent the cumulative motion since the start of the scan. The pose sampling rate during tracking was 30 Hz.