. Author manuscript; available in PMC: 2021 Apr 1.

Published in final edited form as: IEEE Robot Autom Lett. 2020 Feb 10;5(2):2642–2649. doi: 10.1109/lra.2020.2972880

TABLE II.

RMSE Position and Orientation of Iterative Disturbance Estimation compared to Standard Geometric Calibration

	Bending Angle		10°	25°	50°	75°
PRB Model	Position RMSE (cm)	Ref.	0.44	0.75	1.16	1.34
	Position RMSE (cm)	Proposed.	0.66	0.69	0.74	0.79
	Orientation RMSE (deg)	Ref.	9.06	9.89	10.02	10.75
	Orientation RMSE (deg)	Proposed.	1.74	3.18	5.18	7.07
Cosserat Model	Position RMSE (cm)	Ref.	0.52	0.78	1.01	1.25
	Position RMSE (cm)	Proposed.	0.37	0.47	0.56	0.75
	Orientation RMSE (deg)	Ref.	9.17	9.81	9.27	10.04
	Orientation RMSE (deg)	Proposed.	0.82	2.46	3.96	7.18