Fig. 5: Exquisite perception and classification of different objects.
From: Soft robotic hand with tactile palm-finger coordination
a Demonstration of TacPalm SoftHand grasping different daily objects of irregular and fragile surface textures. All three fingers are actuated with a proximal-to-diatal pressure sequence to envelop the object and press it toward the palm. The palm captures the corresponding tactile features. b Demonstration of TacPalm SoftHand grasping different small objects. Only one finger is actuated with a distal-to-proximal pressure sequence to slightly press the object toward the palm, and the palm captures the corresponding tactile features. c Demonstration of TacPalm SoftHand grasping different fabrics. All three fingers are actuated with a distal-to-proximal pressure sequence to slightly press the fabric toward the palm, and the palm captures the corresponding tactile features. d The capability of TacPalm SoftHand integrated with machine learning algorithms to classify ten fabric types. Upper panel, images of different fabric types. Lower panel, the probability of classified fabric type in each test. e The classification confusion matrix of ten fabric types based on the experimental data.
