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Tactile sensing is the current challenge in robotics and object manipulation by machines. The robot's agile interaction with the environment requires pressure sensors to detect not only location and value, but also touch direction. The paper presents a new, two-layer construction of artificial robotic skin, which allows measuring the location, value, and direction of pressure from external force. The main advantages of the proposed solution are its low cost of implementation based on two FSRdoi:10.3390/s19214697 pmid:31671781 pmcid:PMC6864708 fatcat:xojjdc5p6zd33egndqm2a5jhhi