Material surface detection on various body parts: a preliminary study for temperature substitution for upper arm amputees11This research was supported by the Swiss National Science Foundation through the National Centre of Competence in Research (NCCR) Robotics, the CHRONOS project, the Wyss Center for Bio and Neuroengineering, and the Bertarelli Foundation. - Magnus N. Kalff; Solaiman Shokur; Emilio F. Lavado; Silvestro Micera (NER, 2021)