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. Author manuscript; available in PMC: 2016 Apr 20.
Published in final edited form as: Rep U S. 2015 Sep-Oct;2015:3811–3816. doi: 10.1109/IROS.2015.7353912

Figure 3.

Figure 3

(a) Calibration results: linear response for all FBGs when the tip is loaded along x and y axes. (b) Computed forces versus the actual forces along x and y axes. (c) The histogram of the residual errors.