Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback
Figure 4
Representative results of the training: (a) TR-ELE-1 and (b) TR-ELE-2. The horizontal lines are force limits, green circle is a successful grasp and lift, blue circle denotes the trial in which the object slipped from the grasp (i.e., grasping force lower than the minimal necessary force), and the red circle represents the trials in which the object was broken (i.e., grasping force crossed the upper limit). The trials with the same object are grouped by a dashed line. From trial to trial, the subject adjusted the grasping force, eventually reaching the target force window. The training was faster in TR-ELE-2.
