Fig. 3: Proprioception and simultaneous contact detection during motion. | Nature Communications

Fig. 3: Proprioception and simultaneous contact detection during motion.

From: Sensing expectation enables simultaneous proprioception and contact detection in an intelligent soft continuum robot

Fig. 3

Given the different sets of continuous control commands, the robot is blocked by obstacles and actively perceives (A) tip contact detection and (B) sensor contact detection. C The experiment on contact with material of varying softness, including Ecoflex10 (Smooth-On, Inc. 55 kPa), Ecoflex30 (69 kPa), Dragonskin10 (151 kPa), Dragonskin30 (593 kPa), and printed PLA (Rigid).

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