From: Force display control system for simultaneous 3-axis translational motion in surgical training simulator for chiseling operation
Direction
\(\alpha\)
\(K_P\)
\(T_D\)
\(\eta\)
x-axis
1.5
4.7
0.020
0.50
y-axis
3.7
0.013
0.40
z-axis
4.0
0.015
0.60