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. Author manuscript; available in PMC: 2017 Jul 3.
Published in final edited form as: IEEE Robot Autom Lett. 2017 Mar 8;2(3):1656–1663. doi: 10.1109/LRA.2017.2679902

Fig. 5.

Fig. 5

(a) Image of the assembly instrument with EM sensor integrated at the tip; Scanning trajectories from the kinematic data and EM tracker projected to the XY plane as the z position of the shaft remains constant throughout the scan; (b) Raster scan with an area (50 × 50) mm2 with 1.5 mm steps along the y axis; (c) Spiral scan with a maximum radius of 50 mm and 5 revolutions.