Biomedical Engineering Reference
In-Depth Information
In the next step, another linear interpolation, as indicated in Equations 8.6 and 8.7, is
implemented to increase the number of rows from 2 to
N
. The resulting matrix can be
shown as:
⎡
⎣
⎤
⎦
H
11
···
H
1
k
···
H
1
M
H
21
···
H
2
k
···
H
2
M
H
31
···
H
3
k
···
H
3
M
.
.
.
.
[
H
]
=
(8.6)
.
.
H
ik
.
.
.
.
H
(N
−
1
)
1
···
H
(N
−
1
)k
···
H
(N
−
1
)M
H
N
1
···
H
Nk
···
H
NM
where:
G
Lk
−
G
Uk
N
−
1
,
H
ik
=
G
Uk
+
(i
−
1
) .
i
=
1
, ... ,N,k
=
1
, ... ,
M
(8.7)
40.00
35.00
30.00
25.00
20.00
15.00
10.00
5.00
0.00
(a)
(b)
Figure 8.9
(a) The resulting tactile image after interpolation. (b) Photograph of the grasper and
the grasped object
