Fig. 3
From: Haptic interface with multimodal tactile sensing and feedback for human–robot interaction
Detailed overview of the force sensing and feedback system. a Illustration of the force sensor integration within the fingers of the robotic hand and their wireless connection to the haptic glove for vibration motor intensity adjustment. b Response curve of the force sensor, showing the diminishing rate of increase in response to increasing force, simplified using two linear graphs. c Stability of the sensor output across a force range of 0.1 N to 20 N. d Correlation between resistance changes in the force sensor and the increasing duty ratio of the vibration motor. e Force required to produce specific resistance changes in the force sensor, used to calibrate the force output of the vibration motor. f Graph demonstrating the consistency of resistance changes in the force sensor across multiple cycles with varying vibration motor duty ratios