History of engineering & technology actuator anthropomorphic robotic hands array of discrete tactile sensors bio-inspired sensor braille application braille device contact location in tactile sensor contact modelling contour scanning deafblind communication deep learning deformable continuous force transfer medium dexterous manipulation distributed force/tactile sensing ferromagnetic powder force and tactile sensing force sensing force sensor fuzzy control grasp planning grasping and manipulation hand prostheses haptic telepresence hysteresis compensation in-hand manipulation linear regression localization and object detecting machine learning magnetic field orientation