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. Author manuscript; available in PMC: 2011 Oct 1.
Published in final edited form as: IEEE Int Conf Robot Autom. 2011:1589–1594. doi: 10.1109/ICRA.2011.5979690

Fig. 8.

Fig. 8

(a) Force tracking RMS error and (b) force tracking peak-to-peak error against a 1 Hz sinusoidal target as a function of bend angle for the three force control methods.