(d) Statement 1: It consists of one strain gauge detecting vertical force and derives both vertical force and position of centre of pressure. Statement 1 is Correct. In some intrinsic tactile sensors, a single strain gauge can measure vertical force. The center of pressure can be estimated using mechanical models and distribution of forces, although more commonly multiple sensors are used. The statement is simplified but conceptually valid in basic configurations. Statement 2: Intrinsic sensing is based on a force/torque sensor placed within the mechanical structure of the sensing system. Statement 2 Correct. This is the core idea of intrinsic tactile sensing: sensors (e.g., force/torque sensors or strain gauges) are embedded inside the mechanical structure rather than being surface-mounted. Statement 3: Extrinsic sensing is based on sensors, which are often arranged in arrays that are mounted at or near the contact interface. Statement 3 is Correct. Extrinsic tactile sensing refers to sensors like tactile arrays or skin sensors placed at the surface or contact interface to directly detect contact force, pressure, and texture.