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. Author manuscript; available in PMC: 2015 Jul 9.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2011;2011:4076–4081. doi: 10.1109/IEMBS.2011.6091013

Fig. 6.

Fig. 6

Evolution of observed and estimated parameters throughout a sample trial. Top left: average force error, bottom left: stiffness magnitude, remaining plots: individual components of the stiffness matrix.