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

Información del proyecto

NeuTouch

Identificador del acuerdo de subvención: 813713

DOI

10.3030/813713

Proyecto cerrado

Fecha de la firma de la CE 20 Agosto 2018

Fecha de inicio 1 Marzo 2019

Fecha de finalización 31 Agosto 2023

Financiado con arreglo a

• EXCELLENT SCIENCE - Marie Skłodowska-Curie Actions

Coste total

€ 4 108 695,18

Aportación de la UE

€ 4 108 695,18

Coordinado por

FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italy

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Resultado final

Demonstrators, pilots, prototypes (1)

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

Documents, reports (12)

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

Other (4)

International School on Touch for Robotics (TE2)
International School on Touch for Prosthetics (TE1)
International School on Technologies for Touch (TE3)
Recruitment Event

Websites, patent fillings, videos etc. (1)

Website

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

Publicaciones

Conference proceedings (16)

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

Autores: Michele Mastella, Fabio Toso, Giuseppe Sciortino, Enrico Prati, Giorgio Ferrari
Publicado en: 2020 2nd IEEE International Conference on Artificial Intelligence Circuits and Systems (AICAS), 2020, Página(s) 213-217, ISBN 978-1-7281-4922-6
Editor: IEEE
DOI: 10.1109/aicas48895.2020.9073965

Guiding Representation Learning in Deep Generative Models with Policy Gradients

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

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

Autores: Michele Mastella; Hugh Greatorex; Madison Cotteret; Ella Janotte; Willian Soares Girão; Ole Richter; Elisabetta Chicca
Publicado en: Proceedings of the 2023 International Conference on Neuromorphic Systems, Edición 11, 2023
Editor: ACM
DOI: 10.1145/3589737.3606007

Improving Manipulation Performance of Mobile Robots Using Tactile Sensors

Autores: Luca Lach, Robert Haschke, Francesco Ferro
Publicado en: IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), 2021
Editor: IEEE
DOI: 10.13140/rg.2.2.31111.32167

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

Autores: Luca Lach, Robert Haschke, Davide Tateo, Jan Peters, Helge Ritter, Júlia Borras, Carme Torras
Publicado en: TouchProcessing workshop @ NeurIPS, 2023
Editor: NeurIPS

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

Autores: Luca Michael Lach, Niklas Wilhelm Funk, Robert Haschke, Séverin Lemaignan, Helge Ritter, Jan Peters, Georgia Chalvatzaki
Publicado en: International Conference on Intelligent Robots and Systems (IROS), 2023
Editor: IEEE

Neuromorphic capacitive tactile sensors inspired by slowly adaptive mechanoreceptors

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

Robust Grasping with Mobile Robots Using Tactile Sensors

Autores: Luca Lach, Robert Haschke, Francesco Ferro
Publicado en: International Conference on Robotics and Automation (ICRA), 2021
Editor: IEEE
DOI: 10.13140/rg.2.2.10204.51841

Tactile Sensing for Stable Object Placing

Autores: Luca Michael Lach, Niklas Wilhelm Funk, Robert Haschke, Helge Ritter, Jan Peters, Georgia Chalvatzaki
Publicado en: TouchProcessing workshop @ NeurIPS, 2023
Editor: NeurIPS

Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers

Autores: Luca Lach, Séverin Lemaignan, Francesco Ferro, Helge Ritter, Robert Haschke
Publicado en: International Conference on Intelligent Robots and Systems (IROS), 2022
Editor: IEEE
DOI: 10.1109/iros47612.2022.9981819

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

Autores: Luca Michael Lach, Niklas Wilhelm Funk, Robert Haschke, Helge Ritter, Jan Peters, Georgia Chalvatzaki
Publicado en: RoboTac workshop @ IROS, 2023
Editor: IEEE

Artificial Bio-inspired Tactile Receptive Fields for Edge Orientation Classification

Autores: Dabbous. A, Mastella M, Natarajan. A, Chicca E, Valle. M, Bartolozzi. C
Publicado en: 2021 IEEE International Symposium on Circuits and Systems (ISCAS), 2021, Página(s) 1-5, ISBN 978-1-7281-9201-7
Editor: IEEE
DOI: 10.1109/iscas51556.2021.9401749

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

Autores: Luca Lach, Francesco Ferro, Robert Haschke
Publicado en: 2021
Editor: IEEE
DOI: 10.13140/rg.2.2.29294.54083

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

Autores: Lang, Victoria Ashley; Zbinden, Jan; Wessberg, Johan; Ortiz-Catalan, Max
Publicado en: 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), Edición 43rd Annual IEEE EMBC conference proceedings, 2021, Página(s) 1416-1418, ISSN 2694-0604
Editor: IEEE
DOI: 10.1109/embc46164.2021.9630200

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

Autores: Michele Mastella, Elisabetta Chicca
Publicado en: 2021 IEEE International Symposium on Circuits and Systems (ISCAS), 2021, Página(s) 1-5, ISBN 978-1-7281-9201-7
Editor: IEEE
DOI: 10.1109/iscas51556.2021.9401377

Leveraging Touch Sensors to Improve Mobile Manipulation

Autores: Luca Lach, Robert Haschke, Francesco Ferro and Jordi Pagès
Publicado en: IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), 2020
Editor: IEEE
DOI: 10.13140/rg.2.2.29055.12967

Peer reviewed articles (8)

Population coding strategies in human tactile afferents

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

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

Autores: 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
Publicado en: Frontiers Neuroscience - Section Neuromorphic Engineering, Edición Vol. 16, 2022, ISSN 1662-453X
Editor: Frontiers in Neuroscience
DOI: 10.3389/fnins.2022.951164

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

Autores: Stefano Panzeri5,1,2, Ella Janotte3, Alejandro Pequeño-Zurro2, Jacopo Bonato1,2,4 and Chiara Bartolozzi5,3
Publicado en: Neuromorphic Computing and Engineering, Edición Volume 3 - Edición 1, 2023, ISSN 2634-4386
Editor: IOP Publishing
DOI: 10.1088/2634-4386/acaf9c

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

Autores: 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
Publicado en: Nature Machine Intelligence, 2021, ISSN 2522-5839
Editor: Nature Portfolio
DOI: 10.1038/s42256-021-00398-9

Compliant peripheral nerve interfaces

Autores: Valentina Paggi, Outman Akouissi, Silvestro Micera, Stéphanie P Lacour
Publicado en: Journal of Neural Engineering, 2021, ISSN 1741-2560
Editor: Institute of Physics Publishing
DOI: 10.1088/1741-2552/abcdbe

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

Autores: Debarun Sengupta; Michele Mastella; Elisabetta Chicca; Ajay Giri Prakash Kottapalli
Publicado en: ACS Applied Electronic Materials 2022, Edición 4, 2022, Página(s) 308-315, ISSN 2637-6113
Editor: American Chemical Society
DOI: 10.1021/acsaelm.1c01010

Tactile innervation densities across the whole body

Autores: Giulia Corniani; Hannes P. Saal
Publicado en: Journal of Neurophysiology, 2020, ISSN 0022-3077
Editor: American Physiological Society
DOI: 10.1101/2020.04.27.063263

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

Autores: Lang, Victoria Ashley; Munoz-Novoa, Maria; Ortiz-Catalan, Max
Publicado en: Scientific Reports, Edición 13, 6260, 2023, Página(s) 1-6, ISSN 2045-2322
Editor: Nature Publishing Group
DOI: 10.1038/s41598-023-33210-2