Fig. 4: The sensing demonstrations of the multisensory tactile sensors during the softness recognition procedure. | npj Flexible Electronics

Fig. 4: The sensing demonstrations of the multisensory tactile sensors during the softness recognition procedure.

From: Nondestructive identification of softness via bioinspired multisensory electronic skins integrated on a robotic hand

Fig. 4

a Measured relative resistance change of LM sensors integrated in the proximal and distal finger ends of a manipulator. b Optical images of the manipulator movement in the process of identifying the softness of the sponge. c The voltage output of the flexible piezoelectric layer as a function of time while the manipulator touches the sponge.

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