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. Author manuscript; available in PMC: 2020 Aug 4.
Published in final edited form as: IEEE Trans Biomed Eng. 2019 Dec 4;67(8):2215–2229. doi: 10.1109/TBME.2019.2957609

Table VI. Position control results.

Flat - Unloaded Tilted - Unloaded
μ σ max μ σ max
ex [mm] 0.20 0.19 0.98 0.19 0.19 0.82
ey [mm] 0.25 0.20 1.03 0.27 0.20 0.88
ez [mm] 0.11 0.10 0.52 0.13 0.07 0.35
||e|| | [mm] 0.34 0.29 1.51 0.36 0.28 1.25
Flat - loaded Tilted - loaded
μ σ max μ σ max
ex [mm] 0.24 0.23 1.10 0.27 0.28 1.50
ey [mm] 0.33 0.22 1.08 0.32 0.25 1.07
ez [mm] 0.13 0.10 0.56 0.17 0.10 0.65
||e|| [mm] 0.42 0.33 1.64 0.45 0.39 1.95