To brush and manipulate the hair, the researchers added a soft-bristled sensorized brush to the robot arm, to allow forces during brushing to be measured. They combined this setup with something called a “closed-loop control system,” which takes feedback from an output and automatically performs an action without human intervention. This created “force feedback” from the brush — a control method that lets the user feel what the device is doing — so the length of the stroke could be optimized to take into account both the potential “pain,” and time taken to brush.
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