| abstract |
The method comprises providing a lancing device comprising a penetrating member (68) driver having a position sensor (74) and a processor (60) that can determine the relative position and velocity of the penetrating member (18,72) based on measuring relative position of the penetrating member with respect to time; providing a predetermined velocity control trajectory based on a model of the driver (68) and a model of tissue to be contacted. Furthermore, a feedforward control is able to maintain penetrating member velocity along the trajectory. |