. Author manuscript; available in PMC: 2023 Feb 1.

Published in final edited form as: IEEE Robot Autom Lett. 2023 Feb;8(2):1005–1012. doi: 10.1109/LRA.2023.3234823

Table II. Error Analysis.

Setup	Experiments	MAE (%)
System	Deflection via Varying Pressure	0.066 m ⁻¹ (0.61%)
	Straight & Opposite Loading	1.12 m ⁻¹ (24.20%)
	Straight & Toward Loading	0.46 m ⁻¹ (12.39%)
	Deflected & Opposite Loading	1.10 m ⁻¹ (12.57%)
	Deflected & Toward Loading	0.95 m ⁻¹ (6.73%)
Catheter	Deflection via Tendon Pulling	0.55 m ⁻¹ (20.78%)
	Deflection via Opposite Loading	0.72 m ⁻¹ (27.51%)
	Deflection, Toward Loading	0.43 m ⁻¹ (24.14%)
Sheath	Deflection via Gravity	6.39° (13.46%)
	Final Grown Length	11.89mm (17.97%)
	Average Growing Speed	0.46mm/s (51.03%)