Haptic aspect graph representation of 3-D object shapes

The authors describe the haptic aspects through the graph representations of tactile sensing when exploring the shapes of different objects. The haptic aspects are defined as the topologically equivalent equivalent classes of the tactual images for an object. that is its edges, faces, vertices, and concave features. A high-density optical tactile sensor has been developed to obtain tactual images of an object´s surface. Experimental results are given for the haptic aspect graph representation of tactual images by using the prototype tactile sensor