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This paper describes learning of robust haptic recognition by Bionic Hand, a human-like robot hand, through dynamic interaction with the object. Bionic hand is a human-like hand that has soft skin with distributed receptors and is driven by artificial pneumatic muscles. At the beginning of learning, it utilizes the result of physical interaction with the object: thanks to the hand compliance, regrasping...
Skin is an essential component of artificial hands. It enables the use of object affordance for recognition and control, but due to its intrinsic locality and low density of current tactile sensors, stable and proper manual contacts with the objects are indispensable. Recently, design of hand structure have shown to be effective for adaptive grasping. However, such adaptive design are only introduced...
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