Fig. 5
From: A fractal gripper with switchable mode for geometry adaptive manipulation
Coordinate system establishment of the fractal gripper and fingertip pressure measurement experiment. (a) Diagram of the reference coordinate system and the base frame of the fingers for the fractal gripper. (b) Layout diagram of the sensor attachment sequence at the fingertips of the fractal finger. (c) Fingertip pressure measurement experiment for the fractal gripper in the grasping mode. (d) Processed 12-channel fingertip pressure curves under equilibrium grasp conditions.
