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Table 4 Results of shape-8 operation with assistance of DVF on admittance proxy

From: Dynamic virtual fixture on the Euclidean group for admittance-type manipulator in deforming environments

Intensity

R-T ratio

RFI

TFI

RTE (rad)

TTE (mm)

Low

4

0.1296

0.6148

0.0093

0.1046

Low

2

0.8138

0.8333

0.0260

0.1693

Low

1

0.6554

0.8647

0.0575

0.2633

Low

0.5

0.8008

0.9087

0.0856

0.3404

Medium

4

0.1815

0.7453

0.0180

0.1567

Medium

2

0.7633

0.9374

0.0452

0.1876

Medium

1

0.6231

0.8815

0.0712

0.2847

Medium

0.5

0.7000

0.9407

0.1226

0.3455

High

4

0.1692

0.8519

0.0291

0.1140

High

2

0.8190

0.9440

0.0727

0.1832

High

1

0.7173

0.7725

0.0812

0.2728

High

0.5

0.6133

0.8714

0.1755

0.3303