Fig. 4: Perception of contact direction, force, and shape. | Nature Communications

Fig. 4: Perception of contact direction, force, and shape.

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

Fig. 4

The capabilities in perceiving contact direction and force in static (A) and dynamic (B) configurations. C Detection and perception experiments under ink. (i) Experimental setup. (ii) The image of a real shape under the ink. (iii) Detected shapes with and without the proposed EP method. (iv) Contact index εx and εy along x- and y-axes. (v) Perceived contact force profiles and vectors.

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