Fig. 10: Left—Position of the 24 taxels composing the uSkin sensor. Each taxel i measures the local magnetic field, denoted as ui, which is non-linearly correlated to the normal and shear forces applied to the sensing unit. | npj Robotics

Fig. 10: Left—Position of the 24 taxels composing the uSkin sensor. Each taxel i measures the local magnetic field, denoted as ui, which is non-linearly correlated to the normal and shear forces applied to the sensing unit.

From: Let’s DENSE: a novel protocol for efficiently collecting dense and diverse data for tactile slip detection in robotic grasping

Fig. 10

Right—uSkin tactile imprint. The normal components are represented by the surface deformation and colour (blue if the detected forces are high, red otherwise), while the local shear forces are depicted by the fixed-length, directional red line segments.

Back to article page