Table 1 Conditions of the shape reproduction parameter values

Young’s modulus (rubber sheet)

5.4 MPa

Young’s modulus (cable)

1.5 GPa

Dummy skin hardness

0 (Asker C)

Poisson’s ratio

0.5

Rubber sheet thickness

2.0 mm

Dummy skin thickness

3.0 mm

Deformation area (x-direction)

90 mm

Deformation area (y-direction)

90 mm

Number of cables (x-direction)

9

Number of cables (y-direction)

9

Interval of cables

10 mm