Fuente: WIPO "tomato" The stereognosis sensor system (100) includes a triboelectric proprioception sensor (102), a triboelectric tactile sensor (104), and a processor (106) having an artificial neural network. The stereognosis sensor system (100) may combine proprioception and touch sense with the textile-integrated triboelectric sensory units. The triboelectric tactile sensor (104) may include a plurality of triboelectric tactile sensors, such as one for each fingertip of a user's hand. The triboelectric tactile sensor(s) (104) and the triboelectric proprioception sensor (102) may be coupled with a textile glove that may be worn by a user. The triboelectric proprioception sensor (102) may capture tendon motion for global shape recognition, and the triboelectric tactile sensor(s) (104) may perceive the surface material information of objects. The artificial neural network may process and learn the stereognosis information encoded in the sensor data received from the triboelectric proprioception sensor (102) and the triboelectric tactile sensor(s) (104) for recognizing versatile objects.