fig5

Figure 5. System design and feedback process of the closed-loop HMI system for robotic hand. [A(i)] Operational flowchart of the closed-loop interaction system; [A(ii)] Flowchart of signal processing and feedback; (B) Tactile sensor-triggered actuator operation; (C) Demonstrations of operator-mediated recognition of grasped objects via actuator feedback. (Some image elements are photographs taken by the authors or from open-source websites: FreeImages). HMI: Human-machine interface; MCU: microcontroller unit; PWM: pulse-width modulation.