Real-Time Nonlinear Characterization of Soft Tissue Mechanical Properties

Table 2

RAUKF estimation errors via both standard and modified weighting factors for the case that system noise covariance involves abrupt changes.

Error ()	Standard weighting factor	Modified weighting factor
Mean error	0.0030	0.0009
Max error	0.4517	0.0389
RMSE	0.0749	0.0046