Fig. 7From: Dexterous object manipulation by a multi-fingered robotic hand with visual-tactile fingertip sensorsProblems of area comparison by virtual points and expansion of comparison area: a In the case where the ratio of triangles before and after an external force acts on it is almost the same even if the positions of the virtual points change. b The comparison area is expanded to the area of the surrounding triangles to include the virtual pointsBack to article page