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Illustration of the waveforms and spectrums of the noise of some participants [13]. (a) the spectrum (upper) and the waveform (lower) of the noise in a 3 × 4 PPS tactile sensor; (b) the spectrum (upper) and the waveform (lower) of the noise in a 4 × 6 PPS tactile sensor; (c) the spectrum (upper) and the waveform (lower) of the noise in a 5 × 5−1 PPS tactile sensor.
