From: Learning to perform a new movement with robotic assistance: comparison of haptic guidance and visual demonstration
X0 (mm)
Y0 (mm)
Z0 (mm)
ρ (mm)
c1
c2 (deg)
θstart (deg)
θfinish (deg)
Path A
650
200
0
170
-0.25
-60
-225
30
Path B
630
0.2
-15
165
-120