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. 2017 Aug 10;17(8):1844. doi: 10.3390/s17081844

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© 2017 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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(a) Positioning of the 16 tactile units in the fingertip; (b) CAD image of the experimental setup. Fingertip embedding the sensing units (1), plastic plate (stimulus) (2), voice coil actuator providing interaction force (3) and support (4) moved on a linear guide (5) by a DC motor; (c) real picture of the experimental setup.