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. Author manuscript; available in PMC: 2015 Aug 6.
Published in final edited form as: IEEE Trans Robot. 2015 Aug 4;31(4):1044–1053. doi: 10.1109/TRO.2015.2452776

Fig. 8.

Fig. 8

Average RMS error (n = 3) for each joint in the needle manipulator at high (180 °/s), mid (90 °/s), and low (45 °/s) frequency levels. M1 = motor 1; M2 = motor 2; M3 = motor 3; Inj = injection actuator.