This paper presents a review of Tactile Sensing Systems, with an emphasis on their application to the non-invasive characterization of tumors. Emulating the perceptual mechanism of the human skin, the Tactile Sensing Systems characterize tumors using touch sensors by quantifying the mechanical properties such as size and elasticity. The authors survey several tactile transduction methods: capacitive, piezoresistive, piezoelectric, magnetic, and optical. The advantages and disadvantages of different tactile sensors are discussed. The complex human sense of touch is emulated using tactile sensor data, novel data processing algorithms, and near real-time interpretation in a human-readable format. Tactile Sensing Systems utilize tactile sensors and other subsystems to come up with accurate mechanical properties of the touched objects. We review Elasticity Determination Systems, which are a special case of Tactile Sensing Systems. These systems are based on capacitive sensors, piezoelectric sensors, elastography, and optical tactile sensors. Then the optical Tactile Sensing System is discussed in detail; architecture, sensing principle, and algorithms to compute a risk score. Moreover, a survey of multimodal Tactile Sensing Systems, which broaden the capabilities of existing tactile sensing systems, is presented. The paper concludes with discussions and future research directions.

中文翻译：

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用于肿瘤表征的触觉传感系统：综述

本文回顾了触觉传感系统，重点介绍了它们在肿瘤非侵入性表征中的应用。触觉传感系统模拟人类皮肤的感知机制，通过量化尺寸和弹性等机械特性，使用触摸传感器表征肿瘤。作者调查了几种触觉转导方法：电容式、压阻式、压电式、磁式和光学式。讨论了不同触觉传感器的优缺点。使用触觉传感器数据、新颖的数据处理算法和人类可读格式的近实时解释来模拟复杂的人类触觉。触觉传感系统利用触觉传感器和其他子系统来提供被触摸物体的准确机械特性。我们回顾了弹性测定系统，它是触觉传感系统的一个特例。这些系统基于电容传感器、压电传感器、弹性成像和光学触觉传感器。然后详细讨论了光学触觉传感系统；用于计算风险评分的架构、传感原理和算法。此外，还介绍了对多模态触觉传感系统的调查，该系统扩展了现有触觉传感系统的能力。论文最后进行了讨论和未来的研究方向。以及计算风险评分的算法。此外，还介绍了对多模态触觉传感系统的调查，该系统扩展了现有触觉传感系统的能力。论文最后进行了讨论和未来的研究方向。以及计算风险评分的算法。此外，还介绍了对多模态触觉传感系统的调查，该系统扩展了现有触觉传感系统的能力。论文最后进行了讨论和未来的研究方向。