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The proposed method is illustrated using data from the project PROsetta Stone, and we provide rstan code for implementing the proposed method.Conventional grippers fall behind their human counterparts as they do not have integrated sensing capabilities. Piezoresistive and capacitive sensors are popular choices because of their design and sensitivity, but they cannot measure pressure and slip simultaneously. It is imperative to measure slip and pressure concurrently. We demonstrate a dual slip-pressure sensor based on a thermal approach. T
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