Fingertip Sensor...

I decided to make a fingertip sensor for my robotic hand. this small sensor has 6 resistive touch sensors and one temp sensor. can easily be connected to any robotic hand. the temp sensor is selected as a NTC thermistor, because it is very small and sensitive to 2 decimal digits and 6 DIY resistive touch sensors made of double sided sticky tape, self adhesive copper sheet and Velostat. I am still working on it but as far as I can see it can detect the force of grab and type of grabbed material as rigid and soft. further study is needed with collected data...

I used a small Arduino Nano to process the data. the resistors are 100K but I am planning to test the system with 1Megaohm ones for more sensitivity. The simple sketch is as follows:

/* Fingertip Sensor 
 one thermistor and 6 resistive touch points on a fingertip
 reading temperature and touch data fron the sensor
 Dincer Hepguler, 2017
*/
int ThermistorPin = A0;
int TouchPin1 = A1;
int TouchPin2 = A2;
int TouchPin3 = A3;
int TouchPin4 = A4;
int TouchPin5 = A5;
int TouchPin6 = A6;
 
int Vo;
int V1;
int V2;
int V3;
int V4;
int V5;
int V6;
float R1 = 10000;
float logR2, R2, T;
float c1 = 1.009249522e-03, c2 = 2.378405444e-04, c3 = 2.019202697e-07;
 
void setup() {
Serial.begin(57600);
pinMode(TouchPin1,INPUT);
pinMode(TouchPin2,INPUT);
pinMode(TouchPin3,INPUT);
pinMode(TouchPin4,INPUT);
pinMode(TouchPin5,INPUT);
pinMode(TouchPin6,INPUT);
}
 
void loop() {
 
  Vo = analogRead(ThermistorPin);
  V1 = analogRead(TouchPin1);
  V2 = analogRead(TouchPin2);
  V3 = analogRead(TouchPin3);
  V4 = analogRead(TouchPin4);
  V5 = analogRead(TouchPin5); 
  V6 = analogRead(TouchPin6); 
  R2 = R1 * (1023.0 / (float)Vo - 1.0);
  logR2 = log(R2);
  T = (1.0 / (c1 + c2*logR2 + c3*logR2*logR2*logR2));
  T = T - 273.15;
  //T = (T * 9.0)/ 5.0 + 32.0; 
 
  Serial.print("Temp: "); 
  Serial.print(T);
  Serial.print(" C"); 
  Serial.print(" ");
  Serial.print(V1);
  Serial.print(" ");
  Serial.print(V2);
  Serial.print(" ");
  Serial.print(V3);
  Serial.print(" ");
  Serial.print(V4);
  Serial.print(" ");
  Serial.print(V5);
  Serial.print(" ");
  Serial.print(V6);
  Serial.println();
  delay(100);
}
 
Update:
I updated my fingertip sensor after some tests... I realized that it performs better when placed on a soft flexible mount (just like in our fingers, skin over some flesh over the bones), some biomimetics worked well... I mounted my sensor on a silicon base and now its so sensitive and reactive...