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As an important part of the smart space, body sensor networks (BSNs) provide continuous health monitoring and automation assistance for smart environment residents. A high degree of security and reliability for BSN is extremely required. An adaptive and flexible intrusion-tolerant scheme for BSN, namely ITFBS, is proposed. ITFBS dynamically detects intrusions according to the collected intrusion-related information, and it can provide an adaptive intrusion-tolerant strategy with passive replication by utilising two-step threshold-based intrusion detection and replicas classification. The correctness and effectiveness of ITFBS is theoretically proved, and the experimental results show that ITFBS can effectively tolerate intrusions with low power consumption and high adaptability.