“…In an attempt to replicate these functions robotically, researchers have developed tactile sensors based on numerous different sensing principles, including piezoresistive rubber [3], [4], conductive ink [5], piezoelectric material [6], conductive fluid [7], [8], and change in capacitance [9], [10]. Most of these approaches are about measuring contact pressure, however the human sense of touch also includes senses of vibration, temperature and shear loading, among others.…”