# A variable-impedance piezoelectric tactile sensor with tunable sensing performance for tissue hardness sensing in robotic tumor palpation

> Research article (Smart Materials and Structures, 2018) · cited 17× · AI/ML

**Wikidata**: [openalex:W2895441525](https://www.wikidata.org/wiki/openalex:W2895441525)  
**Source**: https://4ort.xyz/entity/a-variable-impedance-piezoelectric-tactile-sensor-with-tunable-sensing-performance-for-tissue-hardness-sensing-in-roboti