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. Author manuscript; available in PMC: 2022 Oct 1.
Published in final edited form as: IEEE Robot Autom Lett. 2021 Jul 30;6(4):7750–7757. doi: 10.1109/lra.2021.3100937

Fig. 8.

Fig. 8.

The trajectory of spotlight end-tip in 3D space on the phantom plane (a) and phantom eyeball (d). The red points are the touched points on the surface. The moving speed of the spotlight end-tip and the estimated error for the distance between end-tip and phantom surface during motion on the phantom plane (d) and phantom eyeball (e). The relationship of error group and speed. error_0.5 denotes the recorded error between 0 and 0.5. error_1.0 denotes the recorded error between 0.5 and 1.0. The same applies on error group of error_1.5, error_2.0, error_2.5, and error_3.0.