Fig. 5: Evaluation of the hand external force perception capability.
From: An 18-DOF hand integrating force–position multimodal perception using a monocular camera
a Experimental results of contact detection for the ring finger; b Experimental results of contact detection for the four fingers and comparison with force sensor measurements; c External force test experimental platform (top), and visual recognition images during little finger pressure sensor measurement (bottom). d Comparison of the internal perception external torques \({\hat{{{\boldsymbol{\tau }}}}}_{ext}\) and the actual external torques \({{{\boldsymbol{\tau }}}}_{ext}\) of the little finger; e Comparison of the internal perception external forces \({\hat{{{\bf{F}}}}}_{ext}\) and the actual external forces \({{{\bf{F}}}}_{ext}\) of the little finger; f Visual tracking images during object manipulation. g Fingertip contact force variations during in-hand object rotation. h External torque variations across joints during object manipulation.
