Haptic Perception with a Robot Hand: Requirements and Realization

Abstract

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.