Imitating structure of human fingers

a flexible sensor is fabricated using polydimethylsiloxane（PDMS） with different hardness as the outer material and polyvinylidene fluoride（PVDF） as the sensing element.The vibration signals generated when five common objects touch with sensor and slide acquired by charge amplifier are processed such as selected

filtered

and feature values.In combination with the classification algorithm

the material of the object is classified.Experiments show that the recognition rate of the five kinds of object materials can reach over 90 %.