Fig. 3: Design and deployment of tactile scanner.

a Schematic representation of pre-synaptic, post-synaptic neurons, and synapse. b A mechano-gating model showcasing the Piezo1/Piezo2 channels are activated by compressive force (Methods). c Leaky integrate-and-fire (LIF) circuit model of a neuron. d Illustration of the neuromorphic model for a sensor unit in the tactile scanner. e Prototype of 10 × 10 axon sensory array based on piezoelectric sensors and neuromorphic circuit array formed by neuromorphic processing units (NPUs) for the tactile scanner. The axon sensory array is flexible and conformable to fit the object’s surface (Supplementary Fig. 5). f Microscopic image of the fabricated NPU based on 2T1C neuromorphic circuit with a size of 350 μm × 350 μm, TFT N1 W/L ratio of 516 µm/3.2 µm, TFT N2 W/L ratio of 102 µm/3.2 µm, and Cs = 0.1 pF.