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Sensing contact with analog resistive technology

We introduce a touch sensor design, which we refer to as a hybrid tactile sensor. It combines the simplicity of analog touch sensing, which is widely used in electronic touch screens and touchpads, with the ability of shape discrimination of the array touch sensing, found in tactile sensors designed for robotics applications. We describe the construction techniques of the hybrid tactile sensor, its modelling, and shape interpretation algorithms that determine the shape of an object in contact with the sensor. Future work is outlined and construction techniques using inexpensive materials of conductive silicone rubber and fabric mesh are described.