Fig. 9: The active and reactive grasping performed by this ATSS under sensorimotor control. | Nature Communications

Fig. 9: The active and reactive grasping performed by this ATSS under sensorimotor control.

From: Human tactile sensing and sensorimotor mechanism: from afferent tactile signals to efferent motor control

Fig. 9

a Active grasping performed by this ATSS. Cylindrical, spherical grasping and precision gripping are presented. b Reactive grasping performed by this ATSS. A customized graphical user interface (GUI) was developed to visualize the pressure distribution across the 36 tactile sensing elements mounted on the index of the biomimetic hand. the magnitude of the contact pressure was visualized using the greyscale. The reactive grasping was presented in three stages: before impact, firm grasping after impact and normal stable grasping. A 20 g weight was lifted to a specified altitude and dropped onto the object, the shear force initiated by the slippage was detected. The grasping force of the biomimetic hand was increased under the modulation of sensorimotor control strategy.

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