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A new tactile sensing algorithm based on the elastic transfer function of surface deformation is proposed. Utilizing the inherent mechanism of an elastic body, it is shown that only a pair of vertically separated pressure probes can determine a single dominant spatial frequency of a fixed surface being touched, and also an arbitrary spatial spectrum of a moving surface profile without knowing its speed. Theory of vertical sampling in the elastic body is presented. Several experimental results utilizing a pair of pressure probes embedded in a silicone rubber sensor tip are shown.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Shinoda et al. (1992) studied this question.