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#7,658,119: Biomimetic tactile sensor

#7,878,075: Biomimetic tactile sensor for control of grip

#8,181,540: Measurement of sliding friction-induced vibrations for biomimetic tactile sensing

#8,272,278: Enhancements to improve the function of a biomimetic tactile sensor

#9,080,918: Compliant tactile sensor with fluid-filled, sponge-like material

#9,477,909: Object investigation and classification

US20160025615 (Pending): Method and applications for measurement of object tactile properties based on how they likely feel to humans