English: The deformation of the rubber pins will trigger the strain gauge placed inside of the artificial finger. This will then send data to the computer that can be interpreted as imperfections in a given surface.
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Captions
Rubber artificial skin layer with flexible structure for shape estimation of micro-undulation surfaces
Uploaded a work by Mitsuhito Ando, Toshinobu Takei & Hiromi Mochiyama from https://robomechjournal.springeropen.com/articles/10.1186/s40648-020-00159-0 with UploadWizard