  We study the responses of two tactile sensors, the fingertip sensor from the
iCub and the BioTac under different external stimuli. The question of interest
is to which degree both sensors i) allow the estimation of force exerted on the
sensor and ii) enable the recognition of differing degrees of curvature. Making
use of a force controlled linear motor affecting the tactile sensors we acquire
several high-quality data sets allowing the study of both sensors under exactly
the same conditions. We also examined the structure of the representation of
tactile stimuli in the recorded tactile sensor data using t-SNE embeddings. The
experiments show that both the iCub and the BioTac excel in different settings.
