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. 2021 Jan 20;7:586707. doi: 10.3389/frobt.2020.586707

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Copyright © 2021 Fekri, Dargahi and Zadeh.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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The diagram shows the data captured from different sources in a window of 1,000 data samples. Panels (A,B) show the force feedback and positions, receptively. They have been plotted in 3 dimension (x, y, and z). In addition, all values corresponding to force feedback, positions, drill's temperature (F), and penetration depth (E) have been normalized (between 0 and 1). Also, for both drilling status (C) and bone's layers (D), 0 denotes “inactivated” and 1 means “activated.” Panel (D) illustrates the layer of the bone, in which drill is located. For a better visualization in this subplot, the 30 first data corresponding to the aforementioned window are plotted.