Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback
Figure 8
Overall results (mean ± standard deviation) in different testing conditions: (a) success rates (SR) from the first trials only, (b) SR from the first and second (correction) trials together, (c) force errors (FE) in the trials in which the object slipped from the grasp, and (d) SR in corrections (second trial was successful after the first had failed). In (d), only a grand average is reported, since the number of failed first trials was very different between subjects and conditions (30/36, 29/67, 12/44, and 28/44 for overall corrected/failed, left to right). The subjects were more successful in grasping the objects, made smaller errors in the failed trials, and better corrected the unsuccessful trials when the feedback was provided (; ; ).
