The main types of sensors used to do so are the kinesthetic sensors  and tactile sensors. In this paper, we refer to kinesthetic sensors, the sensors that aim to give a signal  related to the force or the torque applied at a probe joint level. On the other hand, the tactile sensing  is referring to fingertip contact sensing using taxel images. Tactile sensing is usually representing the  behavior of the mechanoreceptor at the skin level.