Skip to main content
. Author manuscript; available in PMC: 2014 Sep 13.
Published in final edited form as: Int J Med Robot. 2013 Sep 13;10(3):344–355. doi: 10.1002/rcs.1534

Figure 9.

Figure 9

Automatic detection of transfer times for each peg separately from left to right and vice-versa. The peg that is dropped both on and off the board is also detected as shown in red and violet, respectively.