Fig. 3: Tactile sensing performance of the palm.
From: Soft robotic hand with tactile palm-finger coordination
a Experimental setups and standard probes/blocks for evaluating the tactile sensing performance of the palm. Probe A has a diameter df. Probe B has a radius rf, and its pressed depth and the generated circle diameter are denoted as hp and rp, respectively. b Schematic illustration for calculating the size of the sensing region and the sensing density. Probe A is used for the experiment. c The measured pressed depth under the varied applied normal force of probe B. d Cycling stability at a pressed depth of 2.5 mm (5000 cycles). The insets show the first 10 cycles and the last 10 cycles. e Light intensity distributions of the sensing region with average value, R channel, G channel, and B channel. The values are dimensionless and are displayed in a.u. in the figures. f The depth gradient accuracies for estimated Gx and Gx in the look-up table. The values are dimensionless and are displayed in a.u. in the figures. g, h Reconstructed 3D geometries for standard block A and block B. Scale bars, 10 mm.
