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Tool-body assimilation is one of the intelligent human abilities. Through trial and experience, humans are capable of using tools as if they are part of their own bodies. This paper presents a method to apply a robot's active sensing experience for creating the tool-body assimilation model. The model is composed of a feature extraction module, dynamics learning module, and a tool recognition module. Self-Organizing Map (SOM) is used for the feature extraction module to extract object featuresdoi:10.1109/iros.2009.5354655 dblp:conf/iros/NishideNOTTO09 fatcat:6infpvgcubgolp4vwukcq4a2ti