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In this paper we exemplarily outline the application of a large scale tactile sensor to provide tactile perception to a mobile robot. The tactile sensors used within this project1 are composed of piezo-resistive composite material sandwiched between two electrodes and arranged as sensor array. Based upon this approach, large 3D-shaped sensor covers that could be directly applied to the robots geometry were created. To simplify interpretation of sensor data, two major modes of operation have been implemented for the mobile robot: In autonomous mode, the tactile sensor acts as a safety collision sensor. In interaction mode touch and gestures on the robot surface are interpreted as interaction metaphors which allow intuitive human robot interaction. The sensor setup and integration will be described and the results of the experimental evaluation will be outlined

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