# A Piezoelectric Tactile Sensor for Tissue Stiffness Detection with Arbitrary Contact Angle

> Research article (Sensors, 2020) · cited 33× · AI/ML

**Wikidata**: [openalex:W3099147696](https://www.wikidata.org/wiki/openalex:W3099147696)  
**Source**: https://4ort.xyz/entity/a-piezoelectric-tactile-sensor-for-tissue-stiffness-detection-with-arbitrary-contact-angle