Haptic Perception with a Robot Hand: Requirements and Realization

  • Paul Michelman
  • Peter K. Allen
Part of the NATO ASI Series book series (volume 83)

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.

Keywords

Sponge Dial Alan 

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Copyright information

© Springer-Verlag Berlin Heidelberg 1992

Authors and Affiliations

  • Paul Michelman
    • 1
  • Peter K. Allen
    • 1
  1. 1.Department of Computer ScienceColumbia UniversityUSA

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