Fig. 3: Experimental results of the effect of a rigid and a soft skin for three different manipulation tasks.
From: Spatially distributed biomimetic compliance enables robust anthropomorphic robotic manipulation
A Results from the finger sliding experiment. Schematic (top-left), box plot and raw values for the shear force of rigid and soft skins measured at the midpoint of the interaction (top-right), example time series of the shear force of rigid and soft skins for the two sliding motions (bottom). B Results from the knob turning experiment. Schematic (top) and turn angles for the soft and rigid skins as the diameter d and resisting torque Ï„ is varied (bottom). C Results from the finger gaiting experiment. Schematic (top) and completed gaits for soft and rigid skins as the held block width w is varied (bottom).
