Ras Labs makes Tactile Fingertips™, which are remarkably like human fingertips, but are more sensitive and robust (20,000,000+ cycles) with 25X faster response times. Tactile Fingertips are based on Synthetic Muscle™, which is a class of electroactive polymers (EAPs) that sense pressure (gentle pressure to high impact), contract and expand at low voltage, and attenuate force.
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Rasmussen et al. (2024) studied this question.
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