Figure 3
Multimodal sensing demonstration. Simultaneous estimations of (a) indentation depth, (b) contact position, and (c) temperature of the silicone material. In (a), the applied force corresponding to the indentation depth is also shown. In (b), an instantaneous large error at 1156 s is mainly attributed to an unintentional deviation from the set position of the indenter. The sensing data points were sampled at time steps of approximately 1.6 s.
