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Tactile sensor value preprocessing pipeline

Tactile sensing plays an important role in robot hand manipulation. This papers presents an analysis of the raw values produced by a biomimetic tactile sensor and the proposed solution organized in a pipeline processing structure to overcome the signal's noncompliances and issues for further processing. Even if this paper focuses on the data generated by the SynTouch BioTac sensor, the results and implemented modules can be applied to a wide range of tactile sensors.