未来的机械手、假肢和矫正装置都需要很好的触觉传感系统,这主要是为了下面三个重要的目的:(1)触觉的探索、物体及其表面的感知;(2)物体的触觉操纵;(3)对形状的感知。本文通过一个机器人系统作媒介,介绍一个关于触觉探索和形状感知的概念框架结构。该概念框架结构需要下列知识:传感器的信息及对这些信息的三维和二维 Future robotic arms, prostheses and orthosis devices all require good tactile sensing systems for three important purposes: (1) exploration of the tactile sense of the object and its surface; (2) the tactile manipulation of the object ; (3) the perception of the shape. This article presents a conceptual framework about tactile exploration and shape perception through a robotic system. The conceptual framework requires the following knowledge: sensor information and the three-dimensional and two-dimensional