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Research ArticleOpen accessIn the author namesA Novel Tactile Force Probe for Tissue Stiffness ClassificationBehafarid Darvish, Siamak Najarian, Elham Shirzad, Roozbeh KhodambashiIn this study, we have proposed a new type of tactile sensor that is capable of detecting the stiffness of soft objects. The sensor consists of a brass cylinder with an axial bore. An iron core can easily move inside the bore. Three peripheral bobbins were machined in the cylinder around which three coils have been wound. One of the … …American Journal of Applied Sciences, Vol. 6, Issue 3 · 31 Mar 2009 · 7,286 accessesView PDF Cite

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