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A tactile record and playback system will progress tactileology—a new cross-disciplinary field related to tactile sensations—as it will enhance its use in the instruction, archiving, and analysis of human manipulation. In this paper, we describe two key devices for achieving tactileology: a tactile sensor capturing human tactile sense (fingernail color sensor) and a robotic tactile sensor, both of which can detect not only normal force but also tangential force. This is beneficial becausedoi:10.3390/philosophies6030054 doaj:90a6c315570c45abb745432499493518 fatcat:uvlgnbpgtbh2rhzvpfkbxlxc6a