1. Date of download: 10/8/2017
Copyright © ASME. All rights reserved.
From: Accelerometer Based Absolute Positioning for a Miniature In-Vivo Surgical Robot
J. Med. Devices. 2013;7(3): doi: /
Figure Legend:
A non-motorized robotic arm was created to determine the accuracy of calculating the absolute joint angles from accelerometer data

2. Date of download: 10/8/2017
Copyright © ASME. All rights reserved.
From: Accelerometer Based Absolute Positioning for a Miniature In-Vivo Surgical Robot
J. Med. Devices. 2013;7(3): doi: /
Figure Legend:
Error of the calculated pitch angle compared to the actual pitch angle from the absolute encoder readings

3. Date of download: 10/8/2017
Copyright © ASME. All rights reserved.
From: Accelerometer Based Absolute Positioning for a Miniature In-Vivo Surgical Robot
J. Med. Devices. 2013;7(3): doi: /
Figure Legend:
Effect of the pitch angle on the yaw angle accuracy of joints 2 and 3