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This paper discusses fault tolerance in perception-based robotics from the viewpoint of ecological psychology. A prediction-based sensory network using neural networks is proposed for detecting a fault in sensing systems. Furthermore, a transformation matrix is applied for extracting perceptual information from the sensory inputs that might include fault inputs owing to breakdown. We apply the proposed method to a mobile robot. Computer simulations show the proposed method can detect the fault of sensors and can extract perceptual information used for decision making.