Real-Time Nonlinear Characterization of Soft Tissue Mechanical Properties

Table 3

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

Error ()	AUKF	RAUKF
Mean error	0.0551	0.0102
Max error	0.2950	0.1450
RMSE	0.0708	0.0286