Fig. 1: Capacitive in-sensor tactile computing system.

a Schematic of the capacitive in-sensor tactile computing system based on a flexible capacitive tactile sensor array and electrical switches. b Physical processes of realizing the capacitive in-sensor tactile computing. Multiple connected capacitive tactile sensors in the array (dotted box shown in (a)) form an in-sensor tactile computing subregion, implementing in-situ multiplication and accumulation (MAC) operation. c Tactile artificial neural network constructed by the input capacitive pressure sensor vector C and predefined voltage matrix V. d Capacitive in-sensor tactile computing for low-level sensory computation tasks, such as noise reduction, edge extraction, and sharpness.