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

Livrables

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

Publications

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

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

Guiding Representation Learning in Deep Generative Models with Policy Gradients

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

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

Auteurs: Michele Mastella; Hugh Greatorex; Madison Cotteret; Ella Janotte; Willian Soares Girão; Ole Richter; Elisabetta Chicca
Publié dans: Proceedings of the 2023 International Conference on Neuromorphic Systems, Numéro 11, 2023
Éditeur: ACM
DOI: 10.1145/3589737.3606007

Improving Manipulation Performance of Mobile Robots Using Tactile Sensors

Auteurs: Luca Lach, Robert Haschke, Francesco Ferro
Publié dans: IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), 2021
Éditeur: IEEE
DOI: 10.13140/rg.2.2.31111.32167

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

Auteurs: Luca Lach, Robert Haschke, Davide Tateo, Jan Peters, Helge Ritter, Júlia Borras, Carme Torras
Publié dans: TouchProcessing workshop @ NeurIPS, 2023
Éditeur: NeurIPS

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

Auteurs: Luca Michael Lach, Niklas Wilhelm Funk, Robert Haschke, Séverin Lemaignan, Helge Ritter, Jan Peters, Georgia Chalvatzaki
Publié dans: International Conference on Intelligent Robots and Systems (IROS), 2023
Éditeur: IEEE

Neuromorphic capacitive tactile sensors inspired by slowly adaptive mechanoreceptors

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

Robust Grasping with Mobile Robots Using Tactile Sensors

Auteurs: Luca Lach, Robert Haschke, Francesco Ferro
Publié dans: The 2021 International Conference on Robotics and Automation (ICRA 2021), 2021
Éditeur: IEEE
DOI: 10.13140/rg.2.2.10204.51841

Tactile Sensing for Stable Object Placing

Auteurs: Luca Michael Lach, Niklas Wilhelm Funk, Robert Haschke, Helge Ritter, Jan Peters, Georgia Chalvatzaki
Publié dans: TouchProcessing workshop @ NeurIPS, 2023
Éditeur: NeurIPS

Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers

Auteurs: Luca Lach, Séverin Lemaignan, Francesco Ferro, Helge Ritter, Robert Haschke
Publié dans: International Conference on Intelligent Robots and Systems (IROS), 2022
Éditeur: IEEE
DOI: 10.1109/iros47612.2022.9981819

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

Auteurs: Luca Michael Lach, Niklas Wilhelm Funk, Robert Haschke, Helge Ritter, Jan Peters, Georgia Chalvatzaki
Publié dans: RoboTac workshop @ IROS, 2023
Éditeur: IEEE

Artificial Bio-inspired Tactile Receptive Fields for Edge Orientation Classification

Auteurs: Dabbous. A, Mastella M, Natarajan. A, Chicca E, Valle. M, Bartolozzi. C
Publié dans: 2021 IEEE International Symposium on Circuits and Systems (ISCAS), 2021, Page(s) 1-5, ISBN 978-1-7281-9201-7
Éditeur: IEEE
DOI: 10.1109/iscas51556.2021.9401749

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

Auteurs: Luca Lach, Francesco Ferro, Robert Haschke
Publié dans: 2021
Éditeur: IEEE
DOI: 10.13140/rg.2.2.29294.54083

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

Auteurs: Lang, Victoria Ashley; Zbinden, Jan; Wessberg, Johan; Ortiz-Catalan, Max
Publié dans: 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), Numéro 43rd Annual IEEE EMBC conference proceedings, 2021, Page(s) 1416-1418, ISSN 2694-0604
Éditeur: IEEE
DOI: 10.1109/embc46164.2021.9630200

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

Auteurs: Michele Mastella, Elisabetta Chicca
Publié dans: 2021 IEEE International Symposium on Circuits and Systems (ISCAS), 2021, Page(s) 1-5, ISBN 978-1-7281-9201-7
Éditeur: IEEE
DOI: 10.1109/iscas51556.2021.9401377

Leveraging Touch Sensors to Improve Mobile Manipulation

Auteurs: Luca Lach, Robert Haschke, Francesco Ferro and Jordi Pagès
Publié dans: IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), 2020
Éditeur: IEEE
DOI: 10.13140/rg.2.2.29055.12967

Population coding strategies in human tactile afferents

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

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

Auteurs: 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
Publié dans: Frontiers Neuroscience - Section Neuromorphic Engineering, Numéro Vol. 16, 2022, ISSN 1662-453X
Éditeur: Frontiers in Neuroscience
DOI: 10.3389/fnins.2022.951164

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

Auteurs: Stefano Panzeri5,1,2, Ella Janotte3, Alejandro Pequeño-Zurro2, Jacopo Bonato1,2,4 and Chiara Bartolozzi5,3
Publié dans: Neuromorphic Computing and Engineering, Numéro Volume 3 - Numéro 1, 2023, ISSN 2634-4386
Éditeur: IOP Publishing
DOI: 10.1088/2634-4386/acaf9c

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

Auteurs: 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
Publié dans: Nature Machine Intelligence, 2021, ISSN 2522-5839
Éditeur: Nature Portfolio
DOI: 10.1038/s42256-021-00398-9

Compliant peripheral nerve interfaces

Auteurs: Valentina Paggi, Outman Akouissi, Silvestro Micera, Stéphanie P Lacour
Publié dans: Journal of Neural Engineering, 2021, ISSN 1741-2560
Éditeur: Institute of Physics Publishing
DOI: 10.1088/1741-2552/abcdbe

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

Auteurs: Debarun Sengupta; Michele Mastella; Elisabetta Chicca; Ajay Giri Prakash Kottapalli
Publié dans: ACS Applied Electronic Materials 2022, Numéro 4, 2022, Page(s) 308-315, ISSN 2637-6113
Éditeur: American Chemical Society
DOI: 10.1021/acsaelm.1c01010

Tactile innervation densities across the whole body

Auteurs: Giulia Corniani; Hannes P. Saal
Publié dans: Journal of Neurophysiology, 2020, ISSN 0022-3077
Éditeur: American Physiological Society
DOI: 10.1101/2020.04.27.063263

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

Auteurs: Lang, Victoria Ashley; Munoz-Novoa, Maria; Ortiz-Catalan, Max
Publié dans: Scientific Reports, Numéro 13, 6260, 2023, Page(s) 1-6, ISSN 2045-2322
Éditeur: Nature Publishing Group
DOI: 10.1038/s41598-023-33210-2

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