Comment by fallingfrog

Side note but I'm convinced that people wanting to improve touch sensitivity in robots need to look at frequency detail of tactile data, not spatial detail. Try this: Put your finger on a bumpy wall without moving it at all and see what you feel. Not much. Now move your finger across the wall. All sorts of detail jumps out. I think the human tactile system is reading changing pressure in the time domain and translating that into the spatial domain as the finger scans across the surface.