Allen Peter K. author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 1990 English Research in human haptics has revealed a number of exploratory procedures (EPs) that are used in determining attributes on an object, particularly shape. This research has been used as a paradigm for building an intelligent robotic system that can perform shape recognition from touch sensing. In particular, a number of mappings between EPs and shape modeling primitives have been found. The choice of shape primitive for each EP is discussed, and results from experiments with a Utah-MIT dextrous hand system are presented. A vision algorithm to complement active touch sensing for the task of autonomous shape recovery is also presented. Robotics Los Alamitos, Calif. IEEE 1990 1679 1684 http://dx.doi.org/10.1109/ROBOT.1990.126251 http://hdl.handle.net/10022/AC:P:15259 NNC NNC 2012-11-12 13:45:45 -0500 2012-11-12 13:52:25 -0500 9260 eng