Tactile manipulation with a TacThumb integrated on the Open-Hand M2 gripper

The following data was obtained from the TacThumb, an optical tactile sensor integrated on a robotic gripper. The hand rolled a 25mm cylinder along the sensor in 0.5mm increments over a 20mm range.
The data was used to demonstrate tactile manipulation in the open-hand M2 gripper 10.1109/LRA.2016.2514420