Fig. 9:

Experimental results with the amplitude A = 240 μm and frequency f = 1 Hz. (a) Movement of the retina phantom; (b) Selected force profile F_ty and velocity profile w_sx; (c) Boxplot of the tip force F_t, sclera force F_s with active compensation and tip force ${\tilde{F}}_t$, sclera force ${\tilde{F}}_s$ without compensation.