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Control-mapping curves. (A) Control-mapping curve of Shen et al. and (B) the mapping curve of Zhou et al. The former mapped the input position of an Omega 3 controller handle to the speed of the surgery robot; the latter mapped the input voltage from a commercial joystick to the speed of the catheter and guidewire. They both set smooth transitions in some sections of the curves to reduce the influence of the operator’s trembling hand.
