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ROBOMECH Journal

Table 1 Initial value for the friction force estimation method during the needle insertion

From: Estimation of the friction force during the needle insertion using the disturbance observer and the recursive least square

Needle diameter d [m]

1.60 × 10-3

Needle mass m [kg]

2.18 × 10-3

Dynamic friction coefficient μ

0.663

6.63

The Pressure of tissue to the needle P [N/m2]

63.7 × 102

The coefficient of velocity s

197

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