# Design and Calibration of a Sensory System of an Adaptive Gripper
## 3 Results
### Determining the angular values for a complete sequence at the slip sensor  
The calibration of the slip sensor involved simulating several complete gripping cycles over a period of 30 s, in order to identify the angular ranges specific to each sequence. Data analysis revealed three distinct sequences in each cycle:  
Sequence 1--Free state (range 10-12.5 s): Before contact, the sensor is in a resting position, with stable angular values;  
Sequence 2--Contact (12.6-13.5 s): The establishment of contact with the object is marked by a sudden increase in the angular value (approximately \(-800^{\circ}\)), followed by a short period of equilibrium;  
Sequence 3--Slip (13.5-15.4 s): The slipping of the object is evidenced by a gradual decrease in the angular value, starting from the equilibrium point. This sequence of events (free state, contact, slip) is repeated during the simulation, providing sufficient data to define the angular threshold that indicates slipping. Repeating measurements over a period of 30 s allowed for statistical analysis of the data and a more precise determination of the angular intervals for each phase of the gripping cycle. The simulation of the cycles of Module 1 corresponds to the data presented in Figure 34.  
According to the collected data, three sequences are observed at each cycle performed. The system starts collecting data when the sensor is, for a short period of time (interval s9.8-s12), in a free state, followed by a large angular value (\(-800^{\circ}\)), which represents the contact; in the contact position, it remained in equilibrium for a short period of time (s12.1-s13.5), followed by a gradual angular decrease representing the slip (s13.5-s15.3). The simulation of the Module 2 cycles corresponds to the data presented in the graph in Figure 35.  
According to the collected data, three sequences are observed at each cycle performed. The system starts collecting data when the sensor is, for a short period of time (interval s5.4-s6.5), in a free state, followed by a large angular value (\(-800^{\circ}\)) which represents the contact; in the contact position, it remained in equilibrium for a short period of time (s6.6-s7.6), followed by a gradual angular decrease which represents the slip (s7.6-s9.8). The simulation of the Module 3 cycles corresponds to the data presented in the graph in Figure 36.  
According to the collected data, three sequences are observed at each cycle performed. The system starts collecting data when the sensor is, for a short period of time (interval s 3.3-s4.4), in the free state, followed by a large angular value (\(-700^{\circ}\)) which represents the contact; in the contact position, it remained in equilibrium for a short period of time (s4.5-s6.3), followed by a gradual angular decrease which represents the slip (s6.3 -s7.6). The simulation of the Module 4 cycles corresponds to the data presented in the graph in Figure 37.  
According to the collected data, three sequences are observed at each cycle performed. The system starts collecting data when the sensor is, for a short period of time (interval s4.1-s4.4), in the free state, followed by a large angular value (\(-850^{\circ}\)), which represents the contact; in the contact position, it remained in equilibrium for a short period of time (s4.5-s5.4), after which a gradual angular decrease follows which represents the sliding (s5.4-s7.3). The simulation of the Module 5 cycles corresponds to the data presented in the graph in Figure 38.  
According to the collected data, three sequences are observed at each cycle performed. The system starts collecting data when the sensor is, for a short period of time (interval s4.1-s4.4), in the free state, followed by a large angular value (\(-850^{\circ}\)), which represents the contact; in the contact position, it remained in equilibrium for a short period of time (s4.5-s5.4), after which a gradual angular decrease follows which represents the sliding (s5.4-s7.3).