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RMS of position and orientation errors of the actuators and the catheter tip.
| RMS Error | Max Error | |
|---|---|---|
| Actuator 1 Position (mm) | 2.65 × 10−3 | 6.34 × 10−3 |
| Actuator 1 Angle (rad) | 3.41 × 10−3 | 2.81 × 10−1 |
| Actuator 2 Position (mm) | 2.17 × 10−3 | 5.89 × 10−3 |
| Actuator 2 Angle (rad) | 4.47 × 10−3 | 2.25 × 10−1 |
| Tip Position (mm) | 9.79 × 10−4 | 3.55 × 10−3 |
| Tip Angle (rad) | 1.45 × 10−3 | 4.43 × 10−2 |
