Table 3.

Needle torque measured during needle motions at various rotation frequencies (0.05 Hz, 0.10 Hz, 0.15 Hz, and 0.20 Hz) and angles (60°, 90°, 120°, and 180°)

Parameters	Torque Z force amplitude (N·mm)
	0.05 Hz	0.10 Hz	0.15 Hz	0.20 Hz
60°	0.023 ± 0.006	0.059 ± 0.003	0.082 ± 0.005	0.118 ± 0.009
90°	0.045 ± 0.003	0.104 ± 0.007	0.150 ± 0.003	0.186 ± 0.019
120°	0.079 ± 0.005	0.148 ± 0.009	0.184 ± 0.018	0.297 ± 0.036
180°	0.115 ± 0.009	0.197 ± 0.012	0.292 ± 0.038	0.404 ± 0.051

The results are shown as the mean ± standard error of the mean.