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. Author manuscript; available in PMC: 2020 May 4.
Published in final edited form as: Int Symp Med Robot. 2019 May 9;2019:10.1109/ISMR.2019.8710205. doi: 10.1109/ISMR.2019.8710205

Fig. 6.

Fig. 6.

A characteristic plot for Fsx, Fsy and Fs of one of the 10 trials done by user 3. For this trial the adaptive norm control of sclera force was implemented.