Tactile feedback in robotic and prosthetic applications requires high resolution sensing with short response times, high sensitivity and conformability. Nanoparticle films offer the opportunity to realise high resolution sensors on flexible substrates through ink-jet printing and the ability to tailor devices characteristics to achieve sensitive and rapid transduction. This paper presents modelled and experimental characteristics of a novel nanoparticle resistive based sensor over the range of

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... -250 mN for use as a tactile sensor. The response time to a ~100 mN load was less than 20 ms. The sensor had a sensitivity factor of 0.0039 mN -1 and a detection limit of 10 mN. The model fit to the experimental data has a correlation coefficient R 2 of 0.987.