Fig. 4.

Height histogram and RMSE of SMART micro-forceps in terms of grasp mode and grasp duration. (a) Height data analysis of the freehand, SMART assisted and in fixed position (two grasps for 10 seconds and one during 1 second) averaged from 5 data sets. (b) Height comparison according to three different durations of SMART assisted grasp, which are averaged from 10 data sets; 1 second and 5 second grasps indicate sustained grasping every 5 seconds; 10 second grasp indicates that the grasp was sustained over 10 seconds.