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Our approach is based on the multi-sensory integration of the standard theory of neuroscience, where signals of a single object coming from distinct sensory systems are combined. The acquisition steps of signals, filtering, selection and simplification intervening before proprioception, active and predictive perception are integrated into virtual sensors and a virtual environment. We will focus on two aspects: 1) the assignment problem: determining which sensory stimuli belong to the samedoi:10.1002/cav.34 fatcat:bjzak32hbvbivptxhr5uohpn6e