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Table 7 Maximum absolute errors of positions between virtual model and drive system

From: Force display control system for simultaneous 3-axis translational motion in surgical training simulator for chiseling operation

  Admittance control 2DOF Admittance control
Direction   Conv. PD [27] Proposed PD
x-axis 4.11 mm 1.70 mm
y-axis 21.4 mm 17.7 mm 12.1 mm
z-axis 34.0 mm 16.7 mm