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3D schematics of the concept of MWCNT/PDMS tactile sensors; (a) enhancing the sensitivity of a single MWCNT/PDMS film-based tactile sensor with stiff micropillar surface texture under applied normal pressure; (b) directional sensitivity of a double MWCNT/PDMS film-based tactile sensor having interlocked curved-shape micropillars under applied shear pressure (the longer arrow means a larger resistance change under same magnitude of applied shear pressure).
