Fig. 2: Characterization of the ATH-Ring for continuous bending sensing. | Nature Communications

Fig. 2: Characterization of the ATH-Ring for continuous bending sensing.

From: Augmented tactile-perception and haptic-feedback rings as human-machine interfaces aiming for immersive interactions

Fig. 2: Characterization of the ATH-Ring for continuous bending sensing.

a The (i) structure and (ii) working mechanism of the TENG tactile sensor. b The (i) load voltage and (ii) the corresponding integration value for bending with different angles and the same speed. c The (i) load voltage and (ii) the corresponding integration value for bending with different speeds and same angle (90°). The verification of the tactile sensor for (d) step bending sensing and e continuous bending sensing. f The schematic of the robotic collaborative operation system. g The (i) outputs of the TENG tactile sensor for continuous robotic finger bending control with the (ii) illustrations show the corresponding human finger and robotic finger motions.

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