Stiffness Dataset

Three objects were employed. They have a cylindrical shape and are made of different materials that characterize the stiffness: 1) a deformable rubber-like object with slight stiffness (SR), 2) a harder rubber-like object (HR), and 3) a rigid object made of wood (RW). We collected data by performing 20 grasp/release sequential trials on each object 12 times, modifying the position of Baxter's arm each time, and paying attention that at least one sensor out of the four was in contact with the manipulated object. Eventually, we obtained 240 grasping operations on each object. Each trial takes 3 seconds: 1 second of grasping and 2 seconds release.