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. Author manuscript; available in PMC: 2019 Aug 27.
Published in final edited form as: IEEE Trans Biomed Eng. 2016 Oct 3;64(7):1608–1618. doi: 10.1109/TBME.2016.2612229

Fig. 4.

Fig. 4.

Cooperative control with virtual springs (fixtures). To prevent discontinuities, each spring is engaged when the US probe crosses the plane where zero force or torque is applied.