Table 2 Distance of both side point markers in the case where the static external force is applied to the different positions on the fingertip and the ratio between the distance of before and after contacts: the contact angle is defined in Fig. 8b
From: Dexterous object manipulation by a multi-fingered robotic hand with visual-tactile fingertip sensors
|  | Distance before contact Fig. 11a (mm) | Distance after contact Fig. 11b (mm) | Ratio after/before Fig. 11b/a |
|---|---|---|---|
Contact angle \(90^{\circ }\) | 7.69 | 12.09 | 1.572 |
Contact angle \(75^{\circ }\) | 8.65 | 13.83 | 1.598 |
Contact angle \(60^{\circ }\) | 8.51 | 13.59 | 1.596 |
Contact angle \(45^{\circ }\) | 8.09 | 13.02 | 1.609 |
Contact angle \(30^{\circ }\) | 9.30 | 15 | 1.612 |