Science Robotics
Supplementary Materials
The PDF file includes:
- Table S1. Training performance of the kinematic model.
- Fig. S1. Overview of the modeling architecture and its parallel to the human perceptive system.
- Fig. S2. Differences between a commercial flex sensor and the cPDMS sensor.
- Fig. S3. Sensor response to tip contact.
- Fig. S4. Intersensor dependencies.
- Fig. S5. Contribution of pressure information for drift compensation.
- Fig. S6. Schematic of sensor fabrication process.
- Fig. S7. Sensor topology.
- Fig. S8. Schematic of the motion of the 2-DoF actuators.
- Fig. S9. Schematic of the experimental setup.
- Fig. S10. Diagram showing how contact along the continuum of the actuator results in a deformation that propagates throughout the system.
- Fig. S11. Diagram of how we obtain the force measurement at the tip of the actuator using a load cell.
Other Supplementary Material for this manuscript includes the following:
- Movie S1 (.mp4 format). Kinematic prediction with the cPDMS sensors—without contact.
- Movie S2 (.mp4 format). Kinematic prediction with the cPDMS sensors—contact at tip.
- Movie S3 (.mp4 format). Kinematic prediction with the cPDMS sensors—contact along the finger.
- Movie S4 (.mp4 format). Kinematic prediction with the commercial flex sensors—without contact.
- Movie S5 (.mp4 format). Kinematic prediction with the commercial flex sensors—contact at tip.
- Movie S6 (.mp4 format). Kinematic prediction with the commercial flex sensors—contact along the finger.
- Movie S7 (.mp4 format). Force sensing experiment with the cPDMS sensors.
- Movie S8 (.mp4 format). Experiment with the cPDMS sensors showing that the same learned model is sensitive to contact anywhere along the arm.
Files in this Data Supplement: