Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback

Figure 5

Overall training results (i.e., average number of attempts per object ± standard deviation): (a) across conditions and (b) across objects. The training took similar number of trials in TR-ELE-2 (“unseen” objects) and TR-ELE-1 (previously “seen” objects). In addition, in TR-ELE-2 the subjects learned how to handle heavy objects, which were particularly challenging in TR-ELE-1. Within each condition, the objects in (b) are arranged by their weight (^∗𝑃<0.05; ^∗∗𝑃<0.01; ^∗∗∗𝑃<0.001).

(a)

(b)