Real-Time Nonlinear Characterization of Soft Tissue Mechanical Properties

Table 1

Estimation errors of both AUKF and RAUKF for the case with constant or small-variation system noise covariance.

Error ()	AUKF	RAUKF
Mean error	0.0374	0.0053
Max error	0.1853	0.0394
RMSE	0.0475	0.0070