A piezoelectric tactile sensor with a biomimetic protective layer based on the principle of biomimetics is designed and fabricated.The biomimetic protective layer is composed of polydimethylsiloxane(PDMS)and polyethylene terephthalate(PET)materials.The optimal parameters of the biomimetic protective layer dimensions are determined via structural modeling and simulation analysis on the structure of the sensor.An experimental platform is constructed to conduct tests on the flexibility

thermal sensitivity

and friction characteristics of the sensor.The experimental results verify the effectiveness of the biomimetic protective layer and confirm that the sensor is capable of perceiving objects with different thermal conductivities and softness.