Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback
Figure 7
Representative examples of forces generated by different subjects (color profiles) grasping the same object in different testing conditions: (a) and (b) for successful grasping and breaking during TE-FDB, respectively, and (c) and (d) for successful grasping and breaking during TE-FWD, respectively. In both conditions, the subjects would steadily increase the force, but when the feedback was provided, they would also adjust the rate of force increase many times during the trial (e.g., see corrections in (a)). The time is normalized to the duration of the trial in order to emphasize the similarity in the shape of the force profiles for different subjects in the same condition.
