Human tactile perception as a standard for artificial tactile sensing—a review

By J. Dargahi, S. Najarian. The international journal of medical robotics + computer assisted surgery : MRCAS, 2004

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Skin-inspired quadruple tactile sensors integrated on a robot hand enable object recognition (2020, background): “RESULTS Human skin is endowed with sensitivities to various stimuli, such as contact pressure, temperature, and material texture, owing to its delicate sensory receptors in its unique epidermal and dermal microstructures (25, 26).”
Tactile Sensing—From Humans to Humanoids (2010, background): “A 546 few such attempts have earlier been reported in [12]–[15], and 547”
Flexible Tactile Sensing Based on Piezoresistive Composites: A Review (2014, methodology): “These requirements, presented in Table 1, were determined by analyzing the human sense of touch, but even if they are almost exhaustive, they could be modified depending on the specific application in which the device would be used [3–7].”