fig6

Figure 6. Use of the intelligent soft gripper-integrated stretchable pressure for detecting the gripping force position and target recognition. (A) Optical images of grasping an empty bottle and corresponding mapping of the capacitance changes; (B) Optical images of grasping a bottle full of water and corresponding mapping of the capacitance changes; (C) The illustration of the target recognition process, including sensor data collection, machine learning training, and real-time prediction; (D) Recognition confusion matrix of recognizing grasped targets.