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(a) Soft robotic sensor deforms under tensile forces [47]; (b) robot hand with tactile sensors. [48]; (c) stretch sensors for prosthetic hand [49]; (d) robotic hand with piezoresistive sensors [50]; (e) force-sensing grasp of a soft tennis ball [51]; (f) the contact force extremums in a hand-shaking operation [52]; (g) robotic hand controlled by EMG on a bypass prosthesis [53]. Reproduced with permission.
