Figure 2
From: Eye-mounting goggles to bridge the gap between benchtop experiments and in vivo robotic eye surgery
Achieving rotational stiffness. (a) A simple pendulum model is used to illustrate the equivalent model for (b) the moment about the center of the bowl due to gravity, where the force of gravity acting at the center of mass (CoM) of the bowl creates a moment about the center of rotation (CoR). (c) Ranges of restoring torques corresponding to the measurements provided by Rosenbaum and Myer18, as well as the torques resulting from the pendulum model at two nominal stiffnesses.
