A Novel Flexible Virtual Fixtures for Teleoperation

Table 3

Mean absolute errors (MAEs) for 6 tests measured by the robot in the period of approaching.

Times	OPAM				TPAM
	𝑋/mm	𝑌/mm	𝑍/mm	Path/mm	𝑋/mm	𝑌/mm	𝑍/mm	Path/mm
1	10.54±0.89	9.87±0.55	9.56±0.56	17.32±0.13	2.87±0.32	1.68±0.54	3.82±0.34	5.07±0.48
2	9.24±0.76	9.90±0.65	14.44±0.65	19.80±0.32	3.59±0.33	2.20±0.51	4.89±0.27	6.45±0.24
3	9.68±0.67	9.56±0.47	10.87±0.43	17.41±0.67	3.31±0.21	3.35±0.32	3.70±0.33	5.99±0.42
4	12.44±0.88	8.21±0.78	13.90±0.21	20.38±0.48	4.49±0.13	3.31±0.25	4.02±0.38	6.88±0.17
5	10.40±0.32	9.49±0.32	11.58±0.97	18.23±0.85	3.84±0.42	3.16±0.36	4.42±0.45	6.46±0.61
6	9.47±0.56	9.43±0.45	12.35±0.77	18.20±0.82	2.72±0.24	5.53±0.34	3.56±0.44	7.12±0.56
MEs	10.29±1.06	9.41±0.57	12.11±1.68	18.56±1.15	3.47±0.35	3.20±1.46	4.06±0.20	6.32±0.44