Tactile quality control with biomimetic active perception

The following data was obtained from the TacTip, an optical tactile sensor while tapping vertically downwards on a series of gaps cut in a horizontal perspex sheet. Gaps go from 0.25mm to 5mm in 0.25mm steps and are each tapped 110 times at depths ranging over 5.5mm.
The data was used in a study investigating tactile quality control with the TacTip sensor.
10.1109/LRA.2016.2524071