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Updated: May 29, 2026

Tactile Semiautomatic Passive-Finger Angle Stimulator (TSPAS)
Published on: July 30, 2020
Feature-based tactile object recognition
1Department of Computing and Information Science and the Department of Psychology, Queen's University, Kingston, Ont., Canada.
Abstract:
Tactile sensing offers powerful capabilities for robotic perception. Through the use of array-force sensors, precisely located surface information about objects in the workspace is available wherever the robot arm may reach. In order to use this information to identify objects and their placement, interpretation processes should employ proprioceptive information and should use tactile image features which reflect object characteristics. A technique is described for the generation of constraints on object identity and placement such that information from multiple sensor contacts may cooperate towards interpretation.
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