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. Author manuscript; available in PMC: 2014 Aug 5.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2011;2011:4183–4186. doi: 10.1109/IEMBS.2011.6091038

Fig. 2.

Fig. 2

The FORT system includes translation, rotation, and scaling. (a) The demonstrator and the imitator are facing each other at the top (the demonstrator) and the bottom (the imitator). The demonstrator’s workspace (green) was transformed into the observed workspace (red) by the imitator. This observed workspace would be scaled into the imitator’s own workspace (blue), where the imitation is performed. The imitator could reproduce (blue arrow) the action that was performed (green arrow) by the demonstrator. (b) The normalized Euclidean distance error between the scaled red area and the original blue area is represented at the XY plane.