Prograrnming robots by unexperienced human users require methods following the Programming by Deinonstrat,ion (PbD) parndigm. The main goal of these systems is to allow the unexperienced human user to easily integrate motion and perception shills oT cornpier pmblem ~oiriang strategies. Unfortunnteiy nctllai PbD systems are dealing only with n~anipuln-tions based on Pick & Place operations. This paper describes how fine manzpulntions like detecting screw m o i i~ can he recognized hi, a PhD ,s@m. Th.emfore the question: "What happens during a grasp 1" has to be answered. In order to do this, finger movements and forcez on the fingertips are gnthared and nnaluzed while a object is grasped. This assume vast sensory employment like a data glove and integrated tactilesensors. An overview of the used tactile sensors and the pthered .sign,nl.s i s gioen. Rirthermore n clnssification of the recoyuized Dyiiaiiiic Grasp is pointed out as well as tlie classification method based on a Support \'ect,or Machine ( S V h l ) .
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