Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback
Figure 6
Representative results for the testing conditions: (a) TE-FDB, (b) TE-FWD, (c) TE-FWD-ALT, and (d) TE-FDB-ALT. The horizontal lines are force limits, green circle is a successful grasp and lift, blue circle denotes the trial in which the object has 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). For each of the ten objects, there were two grasping trials in succession. The performance was much better when the feedback was provided.
