Table 2.

Comparison of the number of axes that are able to detect the collision using the basic collision detection procedure and the proposed virtual sensor, including the learning and adaptive functionalities.

		Ax
	Performed Tests	1	2	3	4	5	6
Basic	top → bottom EOS	_	•	_	_	_	_
	top → bottom NR	_	_	_	_	•	•
	left → right EOS	•	_	_	_	_	_
	left → right NR	•	_	_	•	_	_
Adaptive	top → bottom EOS	_	•	•	•	•	•
	top → bottom NR	_	•	•	_	•	•
	left → right EOS	•	_	•	•	•	•
	left → right NR	•	•	•	•	•	•