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. Author manuscript; available in PMC: 2021 Feb 1.
Published in final edited form as: IEEE Trans Robot. 2019 Oct 29;36(1):222–239. doi: 10.1109/tro.2019.2946726

Fig. 9.

Fig. 9.

Stacked FBG-based and SCADE-based absolute position estimation errors during free-bending experiments with continuous displacement rate of 1 mm/s. The errors have been calculated at iterations when the ground truth data are available from the EIU (with frequency of 0.5 Hz (i.e., Phase II of the SCADE algorithm).