# Design and Calibration of a Sensory System of an Adaptive Gripper
## 3 Results
### Determining errors for each module (Sequence 1)  
Tables 2-6 show the slip sensor errors over a one-second interval for each grip module. (approximately \(-400\)), ready for contact. 2. Contact: The probe moves rapidly to a contact position (approximately \(-600\)). The travel speed is relatively high, indicating a fast actuator. 3. Return: After contact, the probe returns to its initial position. The return speed is slower than the travel speed to contact. The data show the following: Contact angle variability: There is a slight variability in the contact angle over each cycle. This variation could be caused by variability in object positioning or other sources of error. Importance for Calibration: The data in this graph are essential for calibrating the slip sensor. Analysis of these data allows the determination of a contact threshold, defined as an angular value that indicates firm contact with the object. It also allows the evaluation of measurement reproducibility and the identification of possible mechanical or control problems. The contact simulation for Module 2 corresponds to the data of the graph in Figure 25. In this data collection process, the contact was repeated several times. According to the results, sensor 2 generates contact values between \(-650^{\circ}\) and \(-800^{\circ}\), and when it is released, the values tend between 0 and \(-50^{\circ}\). The contact simulation for Module 3 corresponds to the data of the graph in Figure 26. In this data collection process, the contact was repeated several times. According to the results, sensor 3 generates contact values between \(-650^{\circ}-750^{\circ}\), and when released, the values tend between 0 and \(20^{\circ}\). The contact simulation for Module 4 corresponds to the data in the graph in Figure 27. In this data collection process, the contact was repeated several times. According to the results, sensor 4 generates contact values between \(-800^{\circ}-1000^{\circ}\), and when released, the values tend between 0 and \(-50^{\circ}\). The contact simulation for Module 5 corresponds to the data in the graph in Figure 28.  
In this data collection process, the contact was repeated several times. According to the results, sensor 5 generates contact values between \(600^{\circ}\) and \(750^{\circ}\), and upon release, the values tend between 0 and \(-30^{\circ}\). As can be seen, the contact values are positive compared to the values generated by the other sensors. This aspect will not influence the grip, because in the software, only positive values will be declared, even if they are generated as negative measurements. Determining the angular values indicating the sliding of the grasped object (Sequence 3)  
The graphs show the variation in the angular position (expressed in degrees) of the slide sensor probe on each module over a period of 30 s. The horizontal axis represents time (in seconds), and the vertical axis represents the angular position (in undefined units, but assuming degrees). The line of the graph illustrates the movement of the probe during the simulation of an object sliding. The graphs show a series of cycles, each cycle presumably representing a simulation of the object sliding. Each cycle has three main phases:  
1. Rest phase: The probe is maintained in a relatively stable position, around \(-750\) degrees. This represents the initial position of the sensor, before the simulation;
2. Sliding phase: A sudden decrease in the angular position of the probe is observed, indicating a relatively rapid movement of the object. This represents the simulation of the object sliding. The amplitude of the decrease is variable from one cycle to another, probably due to variations in the friction force or other factors. 3. Recovery phase: After the slip, the probe returns to its initial position (\(-750\) degrees), but not necessarily to the same position as at the beginning of the cycle. The sudden decrease in the angular position of the probe indicates a relative movement between the probe and the object, representing the object slipping.