Figure 6From: Dynamic virtual fixture on the Euclidean group for admittance-type manipulator in deforming environments The tracking error of multiple manual operations with k p = 2, ω = 5 rad/s, R-T ratio = 1, c r = 0.1 rad/s, c p = 100 mm/s; (a) manual force when moving along axis-x; (b) resulted error of operation (a), (c) manual torque when pivoting around arbitrary axis; (d) resulted error of operation (c). Back to article page