“…In the past two decades, tremendous efforts have been towards developing a human-skin-like sensor that can potentially provide a broad spectrum of tactile information particularly useful in the field of medical robotics and certain surgical procedures (Beebe et al, 1995;Engel et al, 2003a,b;Hu et al, 2007;Jiang et al, 1997;Kane et al, 2000;Kolesar and Dyson, 1995;Reston and Kolesar, 1990;Sekitani et al, 2008;Shimizu et al, 2002;Someya et al, 2005;Yang et al, 2008). Different types of materials used for tactile sensing includes silicon-based piezoresistive (Beebe et al, 1995;Kane et al, 2000) or capacitive sensors (Gray and Fearing, 1996;Leineweber et al, 2000), and polymer-based piezoelectric, capacitive or piezoresistive sensors (Kolesar and Dyson, 1995;Reston and Kolesar, 1990).…”