This disclosure provides a flexible tactile
sensing system and a wearable device. The flexible tactile
sensing system includes
electronic skin and a driving device. The
electronic skin includes a piezoresistive functional layer and an
electrode layer. The piezoresistive functional layer contacts an object to be grasped and detects the pressure of the grasped object, while the
electrode layer contacts the
skin of the hand. The driving device includes a control module and a
current source module. The control module is electrically connected to the piezoresistive functional layer and the
current source module. The control module receives the pressure
signal from the piezoresistive functional layer and controls the
current source module to output current to the
electrode layer. The
electronic skin also includes an insulating substrate layer. The piezoresistive functional layer includes multiple spaced
pressure detection patches, and the electrode layer includes multiple spaced electrode patches. The
pressure detection patches and electrode patches are arranged in pairs and are correspondingly distributed on two opposing surfaces of the insulating substrate layer. By amplifying and converting minute contact forces into multi-dimensional electrical stimulation signals, the patient's tactile
feedback loop can be effectively reconstructed.