EPSRC Centre for Doctoral Training in Future Autonomous and Robotic Systems (FARSCOPE) at Bristol Robotics Laboratory and Leadership Award from the Leverhulme Trust on `A biomimetic forebrain for robot touch' (RL-2016-39). The data was obtained using 4 different sensors: TacTip-v2, TacTip-v1, iCub fingertip and Tactile Whiskers (BIOTACT Vibrissae). The last three sensors were used to collect data whilst tapping (or whisking) cylinders of different diameters at different lateral displacements (this data was used for ). The TacTip-v2 sensor was used to collect data when tapping over a circular stimulus at different sensor radial displacements and orientations.
 N. F. Lepora, “Biomimetic active touch with fingertips and whiskers,” IEEE Transactions on Haptics, vol. 9, no. 2, pp. 170–183, April 2016.