Table II. Range of motion and contact force required to obtain a desired view in foetal ultrasound. Values used to generate the required SEE workspace are marked in blue.

		Max. translation [mm]			Max. rotation [deg]			Force range [N]
Subj.	View	X	Y	Z	Yaw	Pitch	Roll	Normal	Tangential
	HC	8.50	3.41	5.67	6.19	4.98	7.72	13.81	1.92
1	AC	4.49	5.60	2.76	3.44	3.45	3.17	4.10	2.60
	FL	6.03	7.86	4.51	5.51	4.84	2.72	7.44	4.15
	HC	4.95	6.45	2.96	5.74	5.91	10.09	14.09	6.15
2	AC	13.53	6.33	7.53	10.80	5.88	12.90	8.73	1.78
	FL	-	-	-	-	-	-	-	-
	HC	9.73	12.41	6.52	7.26	9.80	4.92	13.27	4.87
3	AC	1.53	9.37	2.60	4.23	3.62	4.10	5.55	1.40
	FL	5.81	6.93	7.96	10.34	3.80	7.78	6.61	2.36
	HC	11.87	8.36	7.02	14.84	4.70	9.39	3.47	3.62
4	AC	2.76	2.31	3.19	0.67	1.04	1.09	4.36	3.59
	FL	4.64	4.51	4.64	1.82	3.55	2.07	3.61	2.27
	HC	13.08	11.82	5.79	14.78	4.96	7.14	8.30	8.94
5	AC	9.77	19.91	10.22	2.83	4.55	2.65	4.46	1.49
	FL	4.11	3.77	2.61	6.75	1.92	3.48	3.59	2.92
	HC	2.49	10.18	7.55	7.01	7.83	4.07	20.77	9.13
6	AC	5.69	8.57	4.22	2.27	3.73	1.20	6.06	7.24
	FL	3.79	3.97	3.02	3.60	2.90	1.90	7.97	10.67
	μ	6.63	7.75	5.22	6.36	4.56	5.08	8.01	4.42
	σ	3.64	4.16	2.23	4.09	2.01	3.37	4.70	2.87
	max	13.53	19.91	10.22	14.84	9.8	12.9	20.77	10.67