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. Author manuscript; available in PMC: 2018 Feb 1.
Published in final edited form as: IEEE Trans Ind Electron. 2016 Apr 21;64(2):1626–1635. doi: 10.1109/TIE.2016.2557306

TABLE III.

US-based vein tracking results averaged over four square wave cycles (Error units in mm).

Speed (mm/s) US Tracking Error Following Error
0.5 0.004 0.003
2 0.006 0.046
10 0.004 0.794