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In this video, the tactile system is used in order to build a representation of space immediately surrounding the body - peripersonal space. In particular, the iCub skin acts as a reinforcement for the visual system, with the goal of enhancing the perception of the surrounding world. By exploiting a temporal and spatial congruence between a purely visual event (e.g. an object approaching the robot’s body) and a purely tactile event (e.g. the same object eventually touching a skin part), a representation is learned that allows the robot to autonomously establish a margin of safety around its body through interaction with the environment - extending its cutaneous tactile space into the space surrounding it. We considered a scenario where external objects were approaching individual skin parts. A volume was chosen to demarcate a theoretical visual “receptive field” around every taxel. Learning then proceeded in a distributed, event-driven manner - every taxel stores and continuously updates a record of the count of positive (resulting in contact) and negative examples it has encountered.