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Most of the humanoid robots are covered with curved thin shells. To have a sensitive shell on the robot, normally we need to add an extra layer of electrodes or sensors. In this paper, we realized a tactile shell based on a Lamb wave diffraction method. Surface-contact sensing is calibrated and tested with a finger; the spatial resolution is 17 × 13 on a 100 mm × 75 mm projected-dimension surface...
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