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In recent years, autonomous robots have been increasingly deployed in unknown environments. In order to cope with the unknown, the capability to train autonomously the perception model of an environment is highly desirable. By developing proper sensing technology, this task can be significantly facilitated. In this paper, we explore the problem of artificial tactile perception, aimed at surface identification. To this end, we introduce a simple tactile probe based upon triple axisdoi:10.1109/rose.2011.6058547 dblp:conf/rose/DallaireEGC11 fatcat:lj3pn3axd5frjg5e655bucbetm