Research Article

Haptic Perception with Self-Organizing ANNs and an Anthropomorphic Robot Hand

Table 1

The 16 objects used in the experiments with the four systems. The objects a–j were used both for training and testing, whereas the objects 1–6 were used in the generalization tests.

Label Object Shape Size (mm) Size (mm)

a Tube Cylinder  Diameter=58  
b Beer can Cylinder  Diameter=64  
c Wood block Block  Length=75    Width=47
d Wine bottle Cylinder  Diameter=70  
e Plastic block 1 Block  Length=63  Width=63
f Plastic bottle 2 Cylinder  Diameter=72  
g Olive oil bottle Block  Length=65  Width=65
h Plastic bottle 1 Cylinder  Diameter=80  
i Plastic block 2 Block  Length=80    Width=63  
j Coffee package Block  Length=97    Width=67  
1 Card board package 1 Block  Length=77    Width=66  
2 Card board package 2 Block  Length=84    Width=62  
3 Card board package 3 Block  Length=95    Width=62  
4 Spice bottle Cylinder  Diameter=57  
5 Treacle bottle Cylinder  Diameter=63  
6 Plastic bottle 3 Cylinder  Diameter=79