Figure 1: The experimental setup. At the top right is the desktop, instrumented with calibrated digital cameras. At the bottom right are markers that individuals wear while interacting with the system. We first made use of round markers located on joints and are now making use of a colored jersey instead. Ultimately, we seek to use markerless tracking techniques. At left is an example of an object instrumented with pressure sensors. The location of sensors on the object's surface is shown, as well as an example pressure distribution recorded during a cylinder grasp.
This should be in the right column.