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Table 2 TCP position normalized to Position 0,0,0 in World Robot coordination system for six positions of bone samples (all values in mm)

From: Calibration procedure and biomechanical validation of an universal six degree-of-freedom robotic system for hip joint testing

Direction

xR

yR

zR

Position 0

1064.00

97.02

− 201.19

Position 1

1059.64

96.45

− 200.66

Position 2

1058.72

95.69

− 199.79

Position 3

1061.02

95.15

− 201.05

Position 4

1061.25

95.07

− 200.22

Position 5

1059.90

97.93

− 199.14

Standard deviation

1.68

1.03

0.72

Average value

1060.76

96.22

− 200.34

Max value '+'

1064.00

97.93

− 199.14

Min value '−'

1058.72

95.07

− 201.19