Detection of harder tissues within softer tissues has great advantages in both surgical and clinical applications. In surgical applications, surgeons need to precisely identify the location of potential arteries within softer surrounding tissues to either avoid damage to them or fix them. In addition, surgeons might need to detect the shape, and the location of abnormal tissues such as tumorous lumps within normal ones. In clinical applications, for more reliable detection of the breast cancer, physicists also need a tactile system more accurate than human fingers. Therefore, many challenges in surgical and clinical applications can be met by developing an accurate and a reliable tactile system.

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