1989 Reports

Haptic Perception with a Robot Hand: Requirements and Realization

Michelman, Paul; Allen, Peter K.

This paper first discusses briefly some of the recent ideas of perceptual psychology on the human haptic system particularly those of J.J. Gibson and Klatzky and Lederman. Following this introduction, we present some of the requirements of robotic haptic sensing and the results of experiments using a Utah/MIT dexterous robot hand to derive geometric object information using active sensing.