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Object shape reconstruction based on the object manipulation

This paper presents an approach for the object shape reconstruction based on the object manipulation using tactile information and force feedback. The tactile information collected during the manipulation process and the kinematic information of the hand are used to identify points on the surface of the object in contact with the hand and thus allowing the object shape reconstruction. Distance invariants are measured on the reconstructed object shape in order to perform the object identification. The proposed approach was implemented using the Shunck Dexterous Hand (SDH2). Different tests were performed in real executions and some examples are presented in the paper.