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.



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Academic Units
Computer Science
Department of Computer Science, Columbia University
Columbia University Computer Science Technical Reports, CUCS-452-89
Published Here
December 23, 2011