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Nicholas Pestell

dblp:182/8962 · DBLP profile ↗
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1ranked-venue papers
0as first author
0since 2021 · last 2020
0000-0003-1212-6455ORCID · reported

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1Systems, architecture and hardware · 1

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Human-computer interaction and pervasive computing
1 paper
Haptics and multimodal interaction · 100%
Artificial intelligence
1 paper
Robot manipulation · 100%

Topics — the 3 heaviest of 3, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Haptics and multimodal interaction › tactile sensing
optical tactile sensor
0.412020
NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition · ICRA 2020
Haptics and multimodal interaction
tactile sensing
0.412020
NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition · ICRA 2020
Robotics › Robot manipulation
grasping
0.112020
NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition · ICRA 2020

Methods — techniques the papers use, named apart from their topics

spike coding · 0.9neuromorphic computing · 0.9event-based camera · 0.9
YearPublicationVenuePosition
2020 NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition
abstract
Developing artificial tactile sensing capabilities that rival human touch is a long-term goal in robotics and prosthetics. Gradually more elaborate biomimetic tactile sensors are being developed and applied to grasping and manipulation tasks to help achieve this goal. Here we present the neuroTac, a novel neuromorphic optical tactile sensor. The neuroTac combines the biomimetic hardware design from the TacTip sensor which mimicks the layered papillae structure of human glabrous skin, with an event-based camera (DAVIS240, iniVation) and algorithms which transduce contact information in the form of spike trains. The performance of the sensor is evaluated on a texture classification task, with four spike coding methods being implemented and compared: Intensive, Spatial, Temporal and Spatiotemporal. We found timing-based coding methods performed with the highest accuracy over both artificial and natural textures. The spike-based output of the neuroTac could enable the development of biomimetic tactile perception algorithms in robotics as well as non-invasive and invasive haptic feedback methods in prosthetics.
Benjamin Ward-Cherrier, Nicholas Pestell, Nathan F. Lepora
ICRA2