fig4

Figure 4. Recent progress in bottom-up multimodal perception fusion of e-skin systems and schematic diagram of multisensory fusion. (A) Multimodal perception fusion at the device level. Reproduced with permission^[71]. Copyright©2020, Nature Publishing Group; (B-D) Multimodal perception fusion at the software level. Reproduced with permission^[27]. Copyright©2020, American Association for the Advancement of Science. Reproduced with permission^[33]. Copyright©2020, Nature Publishing Group. Reproduced with permission^[72]. Copyright©2022, Nature Publishing Group; (E) Schematic diagram of bottom-up and top-down multisensory fusion.