Understanding neural coding of touch as enabling technology for prosthetics and robotics

Leistungen

Setup of robots for tactile-based grasping, manipulation, exploration tasks

Control strategies for using knobs and switches with tactile input (ESR10); Integration of visual and tactile information to obtain accurate object model (ESR11); Integration of tactile sensors with spiking readout on manipulators (ESR12). This deliverable is used as mean of verification of milestone M6

Press releases

Press releases will be updated at months M24 and M48

Specifications for the development of algorithms for improving prosthetic feedback from spiking tactile sensors

Definition of stimuli and tasks to be used for characterization of tactile afferents ALL and first dataset ESR1 Tools for theoretical analysis of spike train features that determine perception and decisions ESR5 and corresponding models of spiking neural networks ESR6 First prototype of algorithms for translating spike trains from artificial sensors into stimulation patterns ESR2 Characterisation of transducers amenable to spiking readout and corresponding dataset from existing sensors ESR8 This deliverable is used as mean of verification of milestone M3

Report on recruitment
PhD Calls publication
Publications, list of invited talks

Publications, list of invited talks will be updated at M48

Final conference report
Datasets for data analysis for active exploration and manipulation

It comprises a dataset of recordings from rats and humans during active exploration and behavioural selection tasks (ESR3);

Awarding Doctoral Degrees

Awarding Doctoral Degrees or report on state of play

Demonstrators and Doctoral dissertations WP2

Each describing the work done towards the integrated result on the robotic platforms and the integration validation and benchmarking of the full systems in the different application scenarios ESR345101112

Demonstrators and Doctoral dissertations WP1

Each describing the work done towards the integrated result on the prosthetic device and the integration validation and benchmarking of the full system ESR12689

List of training opportunities

List of training opportunities will be updated at M18 M30

Demonstrators and Doctoral dissertations WP3

Each describing the work done towards the delivery of the selfpowered tactile skin multitransduction neuromorphic skin integrated with embedded spiking neural networks for tactile preprocessing validation and benchmarking ESR7131415

International School on Touch for Prosthetics (TE1)
Recruitment Event

Website

Website with content management, wiki, repositories, online learning tools and alumni network space

Veröffentlichungen

Tunneling-based CMOS Floating Gate Synapse for Low Power Spike Timing Dependent Plasticity

Autoren: Michele Mastella, Fabio Toso, Giuseppe Sciortino, Enrico Prati, Giorgio Ferrari
Veröffentlicht in: 2020 2nd IEEE International Conference on Artificial Intelligence Circuits and Systems (AICAS), 2020, Seite(n) 213-217, ISBN 978-1-7281-4922-6
Herausgeber: IEEE
DOI: 10.1109/aicas48895.2020.9073965

Guiding Representation Learning in Deep Generative Models with Policy Gradients

Autoren: Luca Lach, Malte Schiling, Timo Korthals, Francesco Ferro, Helge Ritter
Veröffentlicht in: International Conference in Optimization and Learning (OLA2021), 2021
Herausgeber: Springer
DOI: 10.13140/rg.2.2.22119.78240

Synaptic Normalisation for On-Chip Learning in Analog CMOS Spiking Neural Networks

Autoren: Michele Mastella; Hugh Greatorex; Madison Cotteret; Ella Janotte; Willian Soares Girão; Ole Richter; Elisabetta Chicca
Veröffentlicht in: Proceedings of the 2023 International Conference on Neuromorphic Systems, Ausgabe 11, 2023
Herausgeber: ACM
DOI: 10.1145/3589737.3606007

Improving Manipulation Performance of Mobile Robots Using Tactile Sensors

Autoren: Luca Lach, Robert Haschke, Francesco Ferro
Veröffentlicht in: IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), 2021
Herausgeber: IEEE
DOI: 10.13140/rg.2.2.31111.32167

Transferring Tactile-based Continuous Force Control Policies from Simulation to Robot

Autoren: Luca Lach, Robert Haschke, Davide Tateo, Jan Peters, Helge Ritter, Júlia Borras, Carme Torras
Veröffentlicht in: TouchProcessing workshop @ NeurIPS, 2023
Herausgeber: NeurIPS

Placing by Touching: An Empirical Study on the Importance of Tactile Sensing for Precise Object Placing

Autoren: Luca Michael Lach, Niklas Wilhelm Funk, Robert Haschke, Séverin Lemaignan, Helge Ritter, Jan Peters, Georgia Chalvatzaki
Veröffentlicht in: International Conference on Intelligent Robots and Systems (IROS), 2023
Herausgeber: IEEE

Neuromorphic capacitive tactile sensors inspired by slowly adaptive mechanoreceptors

Autoren: Ella Janotte; Simeon Bamford; Ole Richter; Maurizio Valle; Chiara Bartolozzi
Veröffentlicht in: 2022 20th IEEE Interregional NEWCAS Conference (NEWCAS), 2022, ISBN 978-1-6654-0105-0
Herausgeber: IEEE
DOI: 10.1109/NEWCAS52662.2022.9841988

Robust Grasping with Mobile Robots Using Tactile Sensors

Autoren: Luca Lach, Robert Haschke, Francesco Ferro
Veröffentlicht in: The 2021 International Conference on Robotics and Automation (ICRA 2021), 2021
Herausgeber: IEEE
DOI: 10.13140/rg.2.2.10204.51841

Tactile Sensing for Stable Object Placing

Autoren: Luca Michael Lach, Niklas Wilhelm Funk, Robert Haschke, Helge Ritter, Jan Peters, Georgia Chalvatzaki
Veröffentlicht in: TouchProcessing workshop @ NeurIPS, 2023
Herausgeber: NeurIPS

Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers

Autoren: Luca Lach, Séverin Lemaignan, Francesco Ferro, Helge Ritter, Robert Haschke
Veröffentlicht in: International Conference on Intelligent Robots and Systems (IROS), 2022
Herausgeber: IEEE
DOI: 10.1109/iros47612.2022.9981819

Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing

Autoren: Luca Michael Lach, Niklas Wilhelm Funk, Robert Haschke, Helge Ritter, Jan Peters, Georgia Chalvatzaki
Veröffentlicht in: RoboTac workshop @ IROS, 2023
Herausgeber: IEEE

Artificial Bio-inspired Tactile Receptive Fields for Edge Orientation Classification

Autoren: Dabbous. A, Mastella M, Natarajan. A, Chicca E, Valle. M, Bartolozzi. C
Veröffentlicht in: 2021 IEEE International Symposium on Circuits and Systems (ISCAS), 2021, Seite(n) 1-5, ISBN 978-1-7281-9201-7
Herausgeber: IEEE
DOI: 10.1109/iscas51556.2021.9401749

TIAGo RL: Simulated Reinforcement Learning Environments with Tactile Data for Mobile Robots

Autoren: Luca Lach, Francesco Ferro, Robert Haschke
Veröffentlicht in: 2021
Herausgeber: IEEE
DOI: 10.13140/rg.2.2.29294.54083

Hand Temperature Is Not Consistent With Illusory Strength During the Rubber Hand Illusion

Autoren: Lang, Victoria Ashley; Zbinden, Jan; Wessberg, Johan; Ortiz-Catalan, Max
Veröffentlicht in: 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), Ausgabe 43rd Annual IEEE EMBC conference proceedings, 2021, Seite(n) 1416-1418, ISSN 2694-0604
Herausgeber: IEEE
DOI: 10.1109/embc46164.2021.9630200

A Hardware-friendly Neuromorphic Spiking Neural Network for Frequency Detection and Fine Texture Decoding

Autoren: Michele Mastella, Elisabetta Chicca
Veröffentlicht in: 2021 IEEE International Symposium on Circuits and Systems (ISCAS), 2021, Seite(n) 1-5, ISBN 978-1-7281-9201-7
Herausgeber: IEEE
DOI: 10.1109/iscas51556.2021.9401377

Leveraging Touch Sensors to Improve Mobile Manipulation

Autoren: Luca Lach, Robert Haschke, Francesco Ferro and Jordi Pagès
Veröffentlicht in: IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), 2020
Herausgeber: IEEE
DOI: 10.13140/rg.2.2.29055.12967

Population coding strategies in human tactile afferents

Autoren: Miguel A Casal; Stefano Panzeri; Hannes Saal; Giulia Corniani
Veröffentlicht in: PLOS Computational Biology, 2022, ISSN 1553-734X
Herausgeber: Public Library of Science
DOI: 10.1371/journal.pcbi.1010763

Braille letter reading: A benchmark for spatio-temporal pattern recognition on neuromorphic hardware

Autoren: Simon F. Müller-Cleve, Vittorio Fra, Lyes Khacef, Alejandro Pequeño-Zurro, Daniel Klepatsch, Evelina Forno, Diego G. Ivanovich, Shavika Rastogi, Gianvito Urgese, Friedemann Zenke and Chiara Bartolozzi
Veröffentlicht in: Frontiers Neuroscience - Section Neuromorphic Engineering, Ausgabe Vol. 16, 2022, ISSN 1662-453X
Herausgeber: Frontiers in Neuroscience
DOI: 10.3389/fnins.2022.951164

Constraints on the design of neuromorphic circuits set by the properties of neural population codes

Autoren: Stefano Panzeri5,1,2, Ella Janotte3, Alejandro Pequeño-Zurro2, Jacopo Bonato1,2,4 and Chiara Bartolozzi5,3
Veröffentlicht in: Neuromorphic Computing and Engineering, Ausgabe Volume 3 - Ausgabe 1, 2023, ISSN 2634-4386
Herausgeber: IOP Publishing
DOI: 10.1088/2634-4386/acaf9c

The neural resource allocation problem when enhancing human bodies with extra robotic limbs

Autoren: Giulia Dominijanni, Solaiman Shokur, Gionata Salvietti, Sarah Buehler, Erica Palmerini, Simone Rossi, Frederique De Vignemont, Andrea d’Avella, Tamar R. Makin, Domenico Prattichizzo, Silvestro Micera
Veröffentlicht in: Nature Machine Intelligence, 2021, ISSN 2522-5839
Herausgeber: Nature Portfolio
DOI: 10.1038/s42256-021-00398-9

Compliant peripheral nerve interfaces

Autoren: Valentina Paggi, Outman Akouissi, Silvestro Micera, Stéphanie P Lacour
Veröffentlicht in: Journal of Neural Engineering, 2021, ISSN 1741-2560
Herausgeber: Institute of Physics Publishing
DOI: 10.1088/1741-2552/abcdbe

Skin inspired flexible and stretchable electrospun carbon nanofiber sensors for neuromorphic sensing

Autoren: Debarun Sengupta; Michele Mastella; Elisabetta Chicca; Ajay Giri Prakash Kottapalli
Veröffentlicht in: ACS Applied Electronic Materials 2022, Ausgabe 4, 2022, Seite(n) 308-315, ISSN 2637-6113
Herausgeber: American Chemical Society
DOI: 10.1021/acsaelm.1c01010

Tactile innervation densities across the whole body

Autoren: Giulia Corniani; Hannes P. Saal
Veröffentlicht in: Journal of Neurophysiology, 2020, ISSN 0022-3077
Herausgeber: American Physiological Society
DOI: 10.1101/2020.04.27.063263

Highly integrated bionic prostheses resolve the thermal asymmetry between residual amputated and contralateral limbs

Autoren: Lang, Victoria Ashley; Munoz-Novoa, Maria; Ortiz-Catalan, Max
Veröffentlicht in: Scientific Reports, Ausgabe 13, 6260, 2023, Seite(n) 1-6, ISSN 2045-2322
Herausgeber: Nature Publishing Group
DOI: 10.1038/s41598-023-33210-2

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