Fig. 4: A bionic tactile perceptive system based on BTS.

a Schematic diagram of tactile perception working. The illustration depicts the BTS-based smart glove. b The photograph of sensor and processor in bionic tactile perceptive system based on BTS. Scale bar: 1 cm. c Flow chart of machine learning for material recognition. d The current dataset and S/M dataset of Ecoflex, PDMS and Al under repeated pressing. e The train dataset is classified via support vector machine (SVM) with different kernel functions. f The probability of test dataset classification is calculated by using the SVM model after training. g Unprocessed H dataset of Ecoflex and Al. h The process of identifying different materials. i The corresponding dataset in h.