Fig. 4From: Dexterous object manipulation by a multi-fingered robotic hand with visual-tactile fingertip sensorsLabeling by external forces and virtual points: a In case there is no deformation by the external force. b In case there is some deformation by the external force. Deformation by external forces may change the labeling order of observed points. However, it is possible to maintain the labeling order by using virtual pointsBack to article page