ArticleFrontiers in neurorobotics2019
Tactile Decoding of Edge Orientation With Artificial Cuneate Neurons in Dynamic Conditions.
Article in Frontiers in neurorobotics, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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Who cites it
5 citing papers in PubMed, 15 citations in OpenAlex.
- Bare finger tactile sensing for edge orientation and contact position using excitation from fingernail.Scientific reports · 2025Article
- Neuromorphic Tactile Edge Orientation Classification in an Unsupervised Spiking Neural Network.Sensors (Basel, Switzerland) · 2022Article
- Human Somatosensory Processing and Artificial Somatosensation.Cyborg and bionic systems (Washington, D.C.) · 2021Review
- Morphological Neural Computation Restores Discrimination of Naturalistic Textures in Trans-radial Amputees.Scientific reports · 2020Article
- Neurorobots as a Means Toward Neuroethology and Explainable AI.Frontiers in neurorobotics · 2020Review
Corrections and comments
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Authors and funding
10 authors at 2 institutions in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Generalization ability in tactile sensing for robotic manipulation is a prerequisite to effectively perform tasks in ever-changing environments. In particular, performing dynamic tactile perception is currently beyond the ability of robotic devices. A biomimetic approach to achieve this dexterity is to develop machines combining compliant robotic manipulators with neuroinspired architectures displaying computational adaptation. Here we demonstrate the feasibility of this approach for dynamic touch tasks experimented by integrating our sensing apparatus in a 6 degrees of freedom robotic arm via a soft wrist. We embodied in the system a model of spike-based neuromorphic encoding of tactile stimuli, emulating the discrimination properties of cuneate nucleus neurons based on pathways with differential delay lines. These strategies allowed the system to correctly perform a dynamic touch protocol of edge orientation recognition (ridges from 0 to 40°, with a step of 5°). Crucially, the task was robust to contact noise and was performed with high performance irrespectively of sensing conditions (sensing forces and velocities). These results are a step forward toward the development of robotic arms able to physically interact in real-world environments with tactile sensing.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.