Real-Time Nonlinear Characterization of Soft Tissue Mechanical Properties

Table 5

Estimation errors by UKF, AUKF, and RAUKF for the case of robotic-assisted needle insertion.

Error ()	UKF	AUKF	RAUKF
Mean error	0.683	0.044	0.020
Maximum error	0.738	0.346	0.205
RMSE	0.150	0.069	0.039