Linear Pushing
In this experiment, a prismatic shaped object is pushed against a flat face of the force-torque sensor along a straight line.You can find the data under the following link
Pivoting
In this experiment the griper holds a prismatic object and pivots it against a line contact. You can find the data under the following link
Rolling
In this experiment the gripper forces a cylindrical object to roll on a flat platform coated with silicone rubber of high coecient of friction. You can find the data under the following link: link