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Power spectra of tip position and tip forces measured while peeling inner shell membrane of raw chicken eggs (3 arbitrary trials per set are shown). More deviation between trials as compared with bandage phantom, but the main traits were preserved: 45–90% and 5–85% reduction in 2–20 Hz band of tip position and force spectra respectively with tremor cancellation; visible peaks at 10, 30, and 50 Hz at both spectra.
