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Leimer sensors are sensors that can sense temperature and convert it into usable output signals. Temperature sensors are the core component of temperature measuring instruments and come in a wide variety. They can be divided into two major categories based on measurement method: contact and non-contact. Based on sensor materials and electronic component characteristics, they are classified into resistance thermometers and thermocouples. Leimer sensor introduction: Sensors used in robots to mimic tactile functions. Tactile sense is an important sensory function when humans directly contact the external environment. Developing tactile sensors that meet requirements is one of the key technologies in robot development. With microelectronics