Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback
Figure 10
Success rates in generalizing closed-loop control from a reference object to a test object (see Table 2). The task was to grasp an object that was similar to the reference (white bars) or represented a stacked/scaled version of the reference (gray bars). The objects are ordered according to the weight (from lighter to heavier). For the small forces (lighter objects), the subjects were very successful in both tasks.