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. 2021 Jan 19;17(9):6519–6527. doi: 10.1109/TII.2021.3052788

Fig. 2.

Fig. 2.

Diagram of our real-time WPD and CNN based LSTM for COVID-19 surgical force guide predictive model, WPD is used for the data preprocessing, and CNN and LSTM are employed for the haptic prediction.