Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback

Table 2

Objects used in TE-FDB-GEN.

Reference object	Test object
Egg	Light bulb
Egg	Lighter
Orange	Apple
Orange	Lemon
Stack of cards	Stack of cards × 2
Cereal box	Cereal box small
Cereal box small	Cereal box small × 2
CD	CD × 5
CD	CD × 4
Thin book	Thin book × 3
Thin book	Thin book × 2
Small hammer	Small brick