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. Author manuscript; available in PMC: 2019 Sep 3.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2016 Jul 28;2016:299–304. doi: 10.1109/BIOROB.2016.7523642

Fig. 5.

Fig. 5.

Flowchart illustrating the steps in the contour-extraction process for the soft grippers. (a) Input image from the microscope in Red-Green-Blue (RGB) colorspace. (b) The input is converted to Hue-Saturation-Value (HSV) color representation to separate chrominance from luminance and achieve glare robustness. (c) The image binarized using a Gaussian-window threshold after the application of a median filter. (d) The extracted contour of the gripper. The scale bar is 0.8 mm.