Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback

Table 1

Objects used in the tests.

Object number	Object	Normalized min/max force	Object number	Object	Normalized min/max force
1	Egg	0.05/0.2	12	Wine glass empty	0.15/0.3
2	CD	0.05/0.2	13	Wine glass half full	0.28/0.4
3	Orange	0.2/0.4	14	Light bulb	0.05/0.2
4	Wine glass full	0.35/0.5	15	Brick small	0.45/0.6
5	Bottle half full	0.5/0.7	16	Hammer small	0.6/0.8
6	Hammer	0.75/0.97	17	Lighter	0.05/0.2
7	Stack of cards	0.08/0.25	18	Lemon	0.2/0.4
8	Cereal box small	0.15/0.3	19	Apple	0.2/0.4
9	Cereal box	0.3/0.5
10	Book thin	0.3/0.5
11	Brick	0.75/0.9