Figure 5
From: Mixed reality temporal bone surgical dissector: mechanical design
Operation with gravity compensation throughout the device work space. These graphs show user manipulation of the mixed-reality system within its nominal workspace (x, y, z position in meters - top three axes). Gravity compensation for the gripper is provided by z-axis forces (Fz in Newton- bottom axis) and is present between times A and B. No instability is seen, as manifested by the absence of high frequency or undamped oscillations in the device position recordings.