**4. Conclusions**

A tactile recognition method based on ENSV-ARBM is proposed to address the problem of recognizing shrimp with and without shells. The method uses Macrobrachium rosenbergii shrimp as our training samples. We obtained tactile information by a selfdesigned tactile sensor and achieved the recognition of shrimp with and without shells by the proposed ENSV-ARBM method.

The effectiveness of the proposed ENSV-ARBM approach to tactile perception was verified by comparison with other tactile models. The method we propose amplifies the tactile differences between shrimp with and without shells. In addition, it overcomes the problems of uneven distribution of tactile data and the lack of shrimp samples to enable the recognition of shrimp with and without shells. The method was tested with different species of shrimp and the results were 88.2%, 87.0%, and 89.4% for *AT*, *AS*, *AP*, respectively, which verified the generalizability of the proposed method.

In conclusion, it has an advantage over other methods in the universality of different species of shrimp recognition and can meet the requirements of real-time and high-accuracy recognition for embedded devices. The method can provide an effective solution for automatic peeling machine to recognition shrimp with and without shells.

**Author Contributions:** Conceptualization, X.C. and Y.X.; methodology, X.C., T.W. and Y.X.; software, Y.X.; validation, X.C., Y.X. and P.D.; formal analysis, Y.X.; investigation, P.D.; resources, E.Z.; data curation, C.T.; writing—original draft preparation, Y.X.; writing—review and editing, X.C.; visualization, C.W.; supervision, X.C.; project administration, X.C.; funding acquisition, X.C. All authors have read and agreed to the published version of the manuscript.

**Funding:** This research was funded by Guangdong Province key areas of research and development program, grant number 2021B0202060002.

**Institutional Review Board Statement:** Not applicable.

**Informed Consent Statement:** Not applicable.

**Data Availability Statement:** The data presented in this study are available on request from the corresponding author. The data are not publicly available since future studies are related to current data.

**Conflicts of Interest:** The authors declare no conflict of interest.
