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. Author manuscript; available in PMC: 2014 Nov 5.
Published in final edited form as: IEEE Int Conf Robot Autom. 2014 May-June;2014:1411–1418. doi: 10.1109/ICRA.2014.6907037

Fig. 10.

Fig. 10

Results of validation experiment for sclera contact force. The calculated sclera force versus the actual value (a), the residual error of force calculation (b). The calculated distance from the tool tip to sclerotomy ds versus the actual value (c), and its residual error (d).