Page 491 - Flexible Robotics in Medicine
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OmniFlex: omnidirectional flexible hand-held endoscopic manipulator with spheroidal joint 485
Figure 21.5
Precision test setup.
Table 21.6: Precision test results.
Trial Proximal angle (degrees) Actuation angle (degrees) Discrepancy (%)
1 0 0 0
2 50 50 0
3 90 110 20
4 180 190 10
5 230 220 10
6 270 260 10
7 290 300 10
Average discrepancy 8.57
Average accuracy 95.23
Figure 21.6
Bend test and the maximum load.
