Table 8:
Decreased Discrimination Rates when Using the Selected 4 Sensors for (disc_i)
Reaching Time(%)
Grasp
Distinguish Rate (%)
Used Sensor
p1
p2
p3
p4
p5
70
g3
100
100
100
67(89)
78
1,2,6,7
40
g3
89
89
100
100
67(89)
1,2,6,8
30
g3
67(78)
100
89
100
78
1,5,6,8
The number in the bracket shows the discimination rate using 8 features.