Fig. 3: In-sensor computing in the capacitive sensor array.
a Configuration of the capacitive in-sensor tactile computing kernel. The kernel consists of nine adjacent sensor pixels (C1 to C9) with corresponding voltage biases (V1 to V9), in which sensor C5 is at the center of the array and is surrounded by other eight sensors. Blue pillar: pressure stimulus; none: no input. b Circuit diagram of the capacitive in-sensor computing kernel. c Timing diagram of the capacitive in-sensor computing kernel to implement the tactile MAC operation. A whole tactile MAC operation requires three phases (Φ1, Φ2, Φ3). The calculated result (Vout) is read out at the moment when the T2 switches turn off. d Calculated result of the capacitive in-sensor computing kernel under different tactile stimulus patterns. Blue pillar: 2 kPa; none: 0 kPa.
