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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. 9.

Fig. 9

Sclera force estimation error due to tool tip force. The calculated sclera force along X-axis Fsx versus the applied tool tip force along X-axis Ftx (a), and the calculated sclera force along Y-axis Fsy versus the applied tool tip force along Y-axis Fty (b).