Fig. 2
From: Haptic interface with multimodal tactile sensing and feedback for human–robot interaction
Control mechanism of the robotic hand in the haptic system. a Configuration for replication of human hand movements. b Correlation between the flex sensor resistance values and the corresponding servomotor driving angles, demonstrating the adaptive response to various finger lengths and motions. c Successful emulation of various human hand gestures by the robotic hand, exemplifying the real-time gesture replication