Table 4 Contact intervals with mean values of measured forces in X, Y, and Z directions, cuboid model
From: A toolkit for haptic force feedback in a telerobotic ultrasound system
Time period (s) | Fx (N) | Fy (N) | Fz (N) |
|---|---|---|---|
0.50–1.10 | − 2.1 | 0.3 | 0.3 |
1.80–2.40 | − 2.9 | 1.1 | 0.9 |
3.10–3.70 | − 1.8 | 0.9 | − 0.3 |
4.25–4.75 | − 1.9 | 0.5 | 0.5 |
5.40–5.75 | − 0.5 | 0.1 | 0.2 |
6.45–6.80 | − 1.1 | 0.2 | 0.1 |
7.40–7.80 | − 0.8 | 0.3 | 0.2 |
8.40–8.75 | − 0.3 | 0.1 | 0.05 |
9.25–9.60 | − 1.4 | 0.3 | 0.43 |