"With the three-fingered hand? This was – well, I forget the name of the professor in the mechanical-engineering department. He passed away too. I kind of outlive all of my collaborators, but I think the student who designed it was Abramson, if I remember, three-fingered hand with a palm, and then we put some tactile pressure sensors on that, so that allow us to find where you are connecting. And actually, Ken Goldberg, who is here a professor, did his master degree with me on using these tactile sensors for recognition purposes. So, I also during that time connected with psychologists, who were prominent in this tactile perception. One of them was Susan Letterman, who is an outstanding professor-scientist in tactile perception at Queens University in Canada. And then she connected me with another professor, Roberta Klatzky, who is a professor at CMU in the psychology department, and we had a very fruitful collaboration. I learned quite a bit from these two people on how people perceive that – for example, people have certain procedures, motoric procedures when they want to find out how hard something is or what is the surface texture, and so there are these modules that people – procedures that people use for exploring. They called it “exploratory procedures.”"