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. 2021 Aug 5;21(16):5301. doi: 10.3390/s21165301

Figure 3.

Figure 3

Reconstruction of object haptic information using the synergy-based encoder-decoder via CNF for three synergy dimensions. The illustrations are derived from training iterations: (a), (c), and (e) point clouds shown in gray are the ground truth haptic maps, the (b), (d), and (f) point clouds in blue are the reconstructed maps from CNF models with dimensions of z32,z16,z4, respectively.