7 papers
Static and Dynamic Representations for Tactile Contact-Angle Estimation with Event-Based Sensors
Yanhui Lu, Efi Psomopoulou, Benjamin Ward-Cherrier
Event-based tactile sensing offers low-latency signal acquisition for contact-rich robotic interaction. This paper investigates contact-angle estimation using event streams from an…
Neuromorphic BrailleNet: Accurate and Generalizable Braille Reading Beyond Single Characters through Event-Based Optical Tactile Sensing
Naqash Afzal, Niklas Funk, Erik Helmut +2
Conventional robotic Braille readers typically rely on discrete, character-by-character scanning, limiting reading speed and disrupting natural flow. Vision-based alternatives ofte…
Exploratory Movement Strategies for Texture Discrimination with a Neuromorphic Tactile Sensor
Xingchen Xu, Ao Li, Benjamin Ward-Cherrier
We propose a neuromorphic tactile sensing framework for robotic texture classification that is inspired by human exploratory strategies. Our system utilizes the NeuroTac sensor to…
A Neuromorphic Incipient Slip Detection System using Papillae Morphology
Yanhui Lu, Zeyu Deng, Stephen J. Redmond +2
Detecting incipient slip enables early intervention to prevent object slippage and enhance robotic manipulation safety. However, deploying such systems on edge platforms remains ch…
Spiking Brain Compression: Post-Training Second-order Compression for Spiking Neural Networks
Lianfeng Shi, Ao Li, Benjamin Ward-Cherrier
Spiking Neural Networks (SNNs) have emerged as a new generation of energy-efficient neural networks suitable for implementation on neuromorphic hardware. As neuromorphic hardware h…
Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands
Nathan F. Lepora, Andrew Stinchcombe, Chris Ford +5
In this work, we report on the integrated sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, wit…
NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition
Benjamin Ward-Cherrier, Nicholas Pestell, Nathan F. Lepora
Developing artificial tactile sensing capabilities that rival human touch is a long-term goal in robotics and prosthetics. Gradually more elaborate biomimetic tactile sensors are b…