Allegro hand + XELA uSkin (368 tri-axial taxels) grasping YCB objects;
two sessions (s1: 2024-04-25, s2: 2024-04-26).
Scrub the timeline or play the video; the skin map shows contact deviations live.
Camera
phase —
Mean contact deviation — whole skin
object—
YCB id—
synergy—
duration—
haptic rate—
Click or drag on the chart to scrub · space plays/pauses · ←/→ step 1 s
uSkin taxel map
0
Hover a cell for per-taxel values. Δ = raw counts − open-hand baseline.
x/y are shear, z is normal pressure.