Experiments with Haptic Perception in a Robotic Hand

Abstract

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 an-alyzed. 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. 1