Experiments with Haptic Perception in a Robotic Hand

This paper describes a robotic hand, LUCS Haptic Hand I, that has been built as a first step in a project aiming at the study haptic perception. Grasping tests with the hand were done with different objects, and the signal patterns from the sensors were studied and analyzed. The results suggest that LUCS Haptic Hand I provides signal patterns that are possible to categorize. Certain higher-level properties were found that can be derived from the raw data that can be used as a basis for haptic object categorization.

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