Fig. 4: Teleoperation test.
From: A soft micron accuracy robot design and clinical validation for retinal surgery
a, b Circle trajectory tracking. The experimental data of manual operation, robot-assisted operation with balanced mechanism, and robot-assisted operation without balanced mechanism compared with the desired trajectory. c The motor current of circle trajectory. The green line represents the motor current of the robot-assisted operation with balanced mechanism, and the red represents the motor current of the robot-assisted operation without balanced mechanism. d, e Square trajectory tracking. The experimental data of manual operation, robot-assisted operation with balanced mechanism, and robot-assisted operation without balanced mechanism compared with the desired trajectory. f The motor current of square trajectory
