fig4

Figure 4. Brushing regions classification performance. (A) Teeth surface categorization of the Bass brushing technique (lower jaw); (B) Experiment setup I: baseline configuration with the dental model directly mounted on the ATI Axia80-M20 F/T sensor (blue box); (C) Experiment setup II: enhanced configuration with VBDeformP soft sensor (yellow box) integrated between the jaw model and the F/T sensor; (D) Confusion matrix showing classification results from the ATI Axia80-M20 setup; (E) Confusion matrix showing classification results from the VBDeformP sensor setup; (F) Comparative F1 scores obtained through leave-one-participant-out cross-validation demonstrated similar performance in recognizing brushing regions between the two sensing approaches. F/T: Force/torque; VBDeformP: Vision-based Deformation Perception.