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Power spectra of tip position and tip forces measured while peeling bandages (3 arbitrary trials per set are shown). Freehand trials exhibit a peak at 10 Hz due to physilogical hand tremor. 80–90% reduction in 2–20 Hz oscillations and visible peaks at 10, 30, and 50 Hz at both spectra reveal success in tremor canceling, strong grasping, and accurate fast tip vibrations.
