Table 7: Unchanged Discrimination Rates when Using the Selected 4 Sensors (disc_i)

Reaching Time (%) Grasp Distinguish Rate (%) Used Sensor
p1 p2 p3 p4 p5
90 g3 100 100 100 100 78 1,5,6,7
80 g1 100 78 89 100 78 1,2,3,7
80 g3 100 100 100 100 89 1,2,6,7
70 g3 100 100 100 100 78 1,2,6,8
60 g2 100 89 100 100 78 1,2,7,8
50 g2 100 89 78 100 89 2,6,7,8
90 g2 100 100 100 100 100 1,2,7,8
60 g3 89 78 89 89 78 1,4,6,8

The figure in the bracket shows the correct rate using 8 features.