Abstract
Touch is the ability to sense at the finger-object level [71]. It is known that there are about 17000 mechanoreceptors distributed along the fingers and the palm of the human hand, which provide rich information, mainly about the contact distribution, limb motion and forces. They can be classified into fast adapting (FA) and slowly adapting (SA) mechanoreceptors, being the former suitable for measuring skin vibrations, and the latter able to detect static stimuli.