Real-Time Nonlinear Characterization of Soft Tissue Mechanical Properties

Table 6

Estimation errors of UKF, AUKF, and RAUKF for the case of mechanical indentation with geometrical discontinuities.

Error ()	UKF	AUKF	RAUKF
Mean error	0.0099	0.0064	0.0062
Maximum error	0.6341	0.0727	0.0638
RMSE	0.0157	0.0109	0.0098