The following rectification and envelope modify the filtered signal in a such a way that the thresholding mechanism is easier to be applied. The method has been mainly implemented by means of a hardware, i.e. a PCB, which avoided the lag due to the use of digital filters as in . The sole thresholding has been performed via software. Simple sensors measuring only the normal force component can be used, as no tangential forces are required. An experimental setup has been created for the validation of the proposed method. The setup included a robotic arm-hand system. The hand has been endowed with bio inspired fingertips embedding FSR tactile sensors. The arm-hand system has been actuated in order to: 1) slide the fingertip onto six flat surfaces with different frictional properties 2) slide two objects with non-flat surface while being grasped by the prosthetic hand 3) perform real manipulation experiments featuring hand reaction.

### Language ###
English

### Assessment ###
The main tool/technology used to implement the method mentioned in the text

### Query ###
Tell me the physical component used to implement this sensing method

Note: This query is original as it doesn't start with an interrogative word, focuses on a specific piece of information (the PCB hardware implementation), and could be asked by someone interested in tactile sensing methods without prior knowledge of the text.
Tell me the physical component used to implement this sensing method

Note: This query is original as it doesn't start with an interrogative word, focuses on a specific piece of information (the PCB hardware implementation), and could be asked by someone interested in tactile sensing methods without prior knowledge of the text.