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METROLOGIC sensors are used in robots to mimic tactile functions. Touch is an important sensory function when humans come into direct contact with the external environment. Developing tactile sensors that meet requirements is one of the technical keys in robot development. With the development of microelectronics and the emergence of various organic materials, a variety of development plans for tactile sensors have been proposed, but most are currently in the laboratory stage, with few reaching commercialization. Tactile sensors can be roughly divided by function into contact sensors, force-torque sensors, pressure sensors, and slip sensors.