Table 1.

Summary of Experimental Results

Experiment	Mean error (mm)*	SD
Accuracy test
Tip twist (°)	0.37	0.26
Linear translation	0.13	0.09
Bending	0.64	0.48
Contact detection
18 mm offset	1.3	0.5
58 mm offset	2.3	1.2
98 mm offset	2.7	1.7
Planar mapping
Flat	0.29	0.19
4 mm sawtooth	0.98	0.62
16 mm sawtooth	0.99	0.60
5−1 m concave	0.91	0.61
5−1 m convex	0.90	0.64
10−1 m sine wave	0.70	0.59

^*Note: The tip twist experimental results are expressed in degrees.

SD, standard deviation.