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本文介绍了一种类似生物触须的水下作业机器人的触觉传感器的工作原理和结构，并对传感器信号进行处理，为机器人控制提供感觉信息．
This paper introduces the working principle and structure of a tactile sensor similar to the biological tentacles for underwater operation robots, and processes the sensor signals to provide sensory information for the robot control.