The paper presents a biomimetic bimodal haptic perception system inspired by the campaniform sensilla on insect antennae. The system, named Hemispherical Bimodal Intelligent Tactile Sensor (BITS), uses the triboelectric effect to detect material type, softness, and quantify Young's modulus. The BITS array consists of hemispherical electrodes and polymer triboelectric layers, capable of generating unique triboelectric output fingerprints based on the deformability of materials. The system can accurately identify material types (99.4% accuracy) and recognize softness (100% accuracy). It also quantifies Young's modulus by analyzing the relationship between contact force and displacement using the Hertz model. The BITS array's performance is validated through experiments with various materials, demonstrating its potential for real-time, accurate haptic information in applications such as human-machine integration, wearable electronics, and medical rehabilitation.The paper presents a biomimetic bimodal haptic perception system inspired by the campaniform sensilla on insect antennae. The system, named Hemispherical Bimodal Intelligent Tactile Sensor (BITS), uses the triboelectric effect to detect material type, softness, and quantify Young's modulus. The BITS array consists of hemispherical electrodes and polymer triboelectric layers, capable of generating unique triboelectric output fingerprints based on the deformability of materials. The system can accurately identify material types (99.4% accuracy) and recognize softness (100% accuracy). It also quantifies Young's modulus by analyzing the relationship between contact force and displacement using the Hertz model. The BITS array's performance is validated through experiments with various materials, demonstrating its potential for real-time, accurate haptic information in applications such as human-machine integration, wearable electronics, and medical rehabilitation.