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. Author manuscript; available in PMC: 2014 Dec 24.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2014 Aug;2014:244–251. doi: 10.1109/BIOROB.2014.6913784

Figure 4.

Figure 4

The implemented correction routine for compensating against the inner actuation forces and maintaining the accuracy of force readings while opening and closing the grasper jaws.