Fig. 7
From: Case study on force compliant robot arm controller for nasopharyngeal swab insertion
Comparison of total observed forces and the accompanying displacement along the insertion axis for both versions of controllers recorded from the start of motion until the termination condition is reached, which is marked by the impulse of force as the swab reaches the nasopharynx. (a) forces encountered during a nominal insertion angle. (b) forces encountered during a misaligned insertion. Notice how the proposed controller is able to adjust and minimize a collision that occurs early in the insertion.
