We describe a decision method for effective placement of tactile elements for grasp type recognition. Not only does the placement decided by our method require a small number of tactile elements, it also achieves a recognition performance as high as placements consisting of many elements. The placement decided by the method is evaluated through experiments involving the recognition of grasp type from the two types of grasp taxonomy defined by Cutkosky and Kamakura. The proposed method is

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... d by applying a decision tree pruning. The pruning is useful for reducing the number of selected tactile elements without badly dropping the recognition rate.