Automatic annotation of haptic exploratory procedures

@inproceedings{Jansen2013AutomaticAO,
  title={Automatic annotation of haptic exploratory procedures},
  author={Sander E. M. Jansen and Wouter M. Bergmann Tiest and Astrid M. L. Kappers},
  booktitle={SAP},
  year={2013}
}
Active movement of the hand and fingers enables dynamic exploration of objects. Lederman and Klatzky [1987] have proposed a set of stereotyped movement patterns called Exploratory Procedures (EPs) that are linked to the acquisition of knowledge concerning specific object properties. For example, lateral motion is the optimal EP for acquiring roughness information and compliance is best estimated by employing pressure.