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Tactile perception is a feature benefiting reliable grasping and manipulation. This paper presents the design of an integrated fingertip force sensor employing an optical fiber based approach where applied forces modulate light intensity. The proposed sensor system is developed to support grasping of a broad range of objects, including those that are hard as well those that are soft. The sensor system is comprised of four sensing elements forming a tactile array integrated with the tip of adoi:10.3390/s17102337 pmid:29027920 pmcid:PMC5677244 fatcat:y2ok4h3vt5e2pmg42lztdcjoda