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Haptic object recognition by a robot hand is essential for adapting to human environment because of its role in multimodal sensing and detecting affordance. An intrinsic difficulty of such recognition is due to its locality. Tactile information is local compared to vision, and slight difference in contact condition dramatically changes the sense. We hypothesize that the structure of the human hand is the key for avoiding the difficulty. The Bionic Hand with the adaptive design of the human hand, covered with soft skin with multiple tactile receptors, is developed. The hand performs robust haptic recognition through repetitive grasping by virtue of its adaptive design.

2A1-E20 Development of the Bionic Hand covered with soft skin with multiple tactile receptors