Dual-Parameter Bionic Tactile Sensing System

In this article, we introduce for the first time a bionic tactile sensing system capable of distinguishing the hardness and roughness of objects, and design experiments to verify the effectiveness of this system. This bionic sensing system, through the simultaneous measurement of stress and vibration modalities using FBG sensing point and optical coherence tomography imaging technology, realizes the classification and identification of the hardness and roughness of the tested objects. We designed a dual-parameter tactile sensing experiment, measured six different types of objects with varying levels of roughness and hardness then we compiled a multimodal dataset. Experimental results show that this bionic tactile sensing system has a classification accuracy rate of 92.83% for these six tested objects. Additionally, through modal degradation experiments, we found that both stress and vibration modalities have significant effects on the classification accuracy rate, thereby validating the effectiveness of the bionic tactile sensing system which can be used in as telemedicine, smart industry, and smart agriculture.