Abstract
This paper describes a concept of a haptic aspect(H-aspect) graph representation of the tactile sensing over an object's surface. The H-aspects are defined as the topologically equivalent classes of the tactual images for the tactile sensing of an object's surface. The H-aspect graph representation indicates the structured relationships of the H-aspects for the tactual images of an object's surface, that is, it's edges, faces, vertices, and concavity. The acqui- sition of the H-aspects of an object by the tactile sensing requires the extraction of the adequate tac- tile images for the H-aspects. A high density optical tactile sensor has been developed in order to obtain the tactual images of an object's surface. Experimental results are giv- en for the H-aspect graph representation of tactual images by using the prototype tactile sensor.
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