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We have reported that a pneumatic finger [1] can work in the field of human tasks, such as paper handling. In this field, to know the "Human Sensitivity" is becoming increasingly important. There are manyfactors which influence human sensibility, and we measured the physical information of material affect on human recognizing by using artificial fi nger[2] having force and temperature sensors. Also, we constructed a Neural Network [NN]system which represents a human feeling and then these physical information are applied as the inputs of theNN system. After the learning against many materials, the outputs of the NN can have images like a human.

Study on Material Recognition of Artificial Finger for Pneumatic Robot Arm