Virtual-Reality Simulator System for Double Interventional Cardiac Catheterization Using Fractional-Order Vascular Access Tracker and Haptic Force Producer

Figure 9

(a) Radial coordinates of the blood vessel and tortuous sites (), (b) angular coordinates of the blood vessel, (c) tracking evaluations with the fractional-order errors, (d) varying input voltages with the PWM control, and (e) varying duty cycles with the buck-boost control.

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(b)

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(e)