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Tactile data from all four sensors. Data were sampled at 0.1 mm intervals along the 72 mm range of cylinder motion (720 samples). (A, C, E, G) pin displacements along the x-axis and (B, D, F, H) along the y-axis (direction of the cylinder roll). The four right-most panels identify pins for each sensor and display the x- and y-directions.
