Tactile sensing is considered a key technology for\ud
implementing complex robot interaction tasks. The contribution\ud
of this article is two-fold: (i) we propose a general-purpose\ud
algorithm for the reconstruction of deformation and force\ud
distributions for capacitance-based skin-like systems; (ii) realtime\ud
performance can be tuned according to available computational\ud
resources, which leads to an any-time formulation.\ud
Experiments (both in simulation and with real robot skin)\ud
provide a quantitative analysis of results
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