Fig. 4From: Video-tactile pneumatic sensor for soft tissue elastic modulus estimationDependence of normal load P applied to the sensor on the shell displacement u s for materials with varying stiffness (gray markers 1, 3—a soft silicone sample, black markers 2, 4—a rigid sample) and varying air pressure: 1, 2—15 kPa; 3, 4—6 kPaBack to article page