Extended Data Fig. 8: Pressure-encoded electrotactile stimulation in the human–machine interaction applications.
From: Encoding of tactile information in hand via skin-integrated wireless haptic interface
a, Sensor configurations on both user’s hand and the robotic hand. b, Photographs showing 3 actions (knocking, slapping, and hitting) with different strengths. c, Recorded pressure of 3 actions in b, correspondingly. d, Corresponding stimulation waveforms for three actions in c. e, Photographs showing the user controls the robotic hand to grasp a plastic cup, lift it and then drop it. f, Recorded pressure on 5 fingers. g, Corresponding stimulation waveforms on five fingers.
