@inproceedings{fc4aba789e98409da8a6368224fa4b49,
title = "A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand",
abstract = "Restoring tactile sensation is essential to enable in-hand manipulation and the smooth, natural control of upper-limb prosthetic devices. Here we present a platform to contribute to that long-term vision, combining an anthropomorphic robot hand (QB SoftHand) with a neuromorphic optical tactile sensor (neuroTac). Neuromorphic sensors aim to produce efficient, spike-based representations of information for bio-inspired processing. The development of this 5-fingered, sensorized hardware platform is validated with a customized mount allowing manual control of the hand. The platform is demonstrated to succesfully identify 4 objects from the YCB object set, and accurately discriminate between 4 directions of shear during stable grasps. This platform could lead to wide-ranging developments in the areas of haptics, prosthetics and telerobotics",
author = "Ben Ward-Cherrier and J{\"o}rg Conradt and Catalano, \{Manuel G.\} and Matteo Bianchi and Lepora, \{Nathan F\}",
year = "2021",
month = oct,
day = "24",
doi = "10.1109/iros45743.2020.9341391",
language = "English",
isbn = "978-1-7281-6213-3",
publisher = "IEEE",
booktitle = "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
}