Associating SOM Representations of Haptic Submodalities
We have experimented with a bio-inspired selforganizingtexture and hardness perception system whichautomatically learns to associate the representations of the twosubmodalities with each other. To this end we have developeda microphone based texture sensor and a hardness sensor that measures the compression of the material at a constant pressure. The system is based on a novel variant of the Self-
