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A successful example of AICF intervention on the scleral force. When the label is 0, AICF is inactive; when the label is 1, 2, or 3, AICF is activated and the desired velocity of the tool at the sclera frame (Vxd, Vyd) is assigned; and as the result, the scleral force (Fx, Fy) is reduced to remain within the safety boundaries (Fgate).
