Biomedical Engineering Reference
In-Depth Information
1 U
2 U
3 U
4 U
5 U
6 U
7 U
a
b
1 L
2 L
3 L
4 L
5 L
6 L
7 L
(a)
200.00
175.00
−150.00
−125.00
100.00
75.00
50.00
−25.00
0.00
1
2
3
4
5
6
7
(b)
200.00
175.00
150.00
−125.00
100.00
75.00
50.00
−25.00
−0.00
(c)
200.00
175.00
150.00
−125.00
100.00
75.00
50.00
−25.00
0.00
(d)
Figure 8.19 The graphical rendering of the characterized lump in two dimensions. (a) A lump
located in a soft material with the upper and lower sensor arrays. (b) 2D intensity graph associated
with the sensor array outputs. (c) A 7
×
7 matrix showing the location of the lump. (d) A 60
×
100
matrix that gives a better information on the location and size of the lump
a
b
N Columns
Figure 8.20 The relationship between grasped object and intensity matrix
 
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