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. Author manuscript; available in PMC: 2021 Sep 29.
Published in final edited form as: Int Symp Med Robot. 2021 Jan 11;2020:10.1109/ismr48331.2020.9312945. doi: 10.1109/ismr48331.2020.9312945

Fig. 6:

Fig. 6:

Experimental results with the amplitude of A = 30 μm and frequency f = 1 Hz. (a) Movement of the retina phantom; (b) Linear velocity of the robot expressed in the sclera frame {s}, all of them value zero; (c) Angular velocity of the robot expressed in the sclera frame {s}, all of them value zero.