This paper introduces a hybrid tactile sensor integrating triboelectric and capacitive sensing units based on porous PDMS. The triboelectric unit is sensitive to surface material and texture, while the capacitive unit responds to object hardness. Combining signals from both units enables object recognition, even differentiating between the same object in different states. Deep learning enhances the sensor's accuracy, achieving 98.46% recognition accuracy for 12 samples. This sensor shows promise for robotic perception and tactile intelligence.
