Fig. 5: In-sensor tactile computing for analog noise reduction.
a Analog tactile stimuli when a cat’s claw contacts the flexible capacitive pressure sensor array. b Claw-like noisy mold with multiple tactile stimulus intensities. The mold is simplified to four stimulus zones including flat zone (0 kPa), hair zone (0.8 kPa), toe pad (1.6 kPa), and palm pad (2 kPa). c Experimental Vout for all tactile stimulus patterns when the pressure stimuli of 0.8, 1.6, and 2 kPa are applied onto the array, respectively. d, e Experimental Vout for tactile stimulus patterns with the mixture of 1.6 and 2 kPa (d) and the mixture of 0.8, 1.6, and 2 kPa (e). Yellow pillar: 0.8 kPa; red pillar: 1.6 kPa; blue pillar: 2 kPa; none: 0 kPa. f, g Noise reduction results from experiment (f) and simulation (g). h Comparison of power consumption between the capacitive in-sensor tactile computing system and a conventional mixed electronic system.
