{"id":"https://openalex.org/W3129361270","doi":"https://doi.org/10.1109/iros45743.2020.9341391","title":"A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand","display_name":"A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3129361270","doi":"https://doi.org/10.1109/iros45743.2020.9341391","mag":"3129361270"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341391","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341391","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11568/1116778","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008451819","display_name":"Benjamin Ward-Cherrier","orcid":"https://orcid.org/0000-0001-9614-7004"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Benjamin Ward-Cherrier","raw_affiliation_strings":["University of Bristol and Bristol Robotics Laboratory, University of Bristol, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bristol and Bristol Robotics Laboratory, University of Bristol, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032405883","display_name":"J\u00f6rg Conradt","orcid":"https://orcid.org/0000-0001-5998-9640"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Jorg Conradt","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056194661","display_name":"Manuel G. Catalano","orcid":"https://orcid.org/0000-0003-1950-6186"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manuel G. Catalano","raw_affiliation_strings":["Istituto Italiano di Tecnologia, Genova, Italia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Genova, Italia","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004273214","display_name":"Matteo Bianchi","orcid":"https://orcid.org/0000-0003-4747-1697"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Bianchi","raw_affiliation_strings":["Universita di Pisa, Pisa, Italia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universita di Pisa, Pisa, Italia","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015897265","display_name":"Nathan F. Lepora","orcid":"https://orcid.org/0000-0001-5327-1523"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nathan F. Lepora","raw_affiliation_strings":["University of Bristol and Bristol Robotics Laboratory, University of Bristol, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bristol and Bristol Robotics Laboratory, University of Bristol, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7285,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.71733188,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"9883","last_page":"9889"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/neuromorphic-engineering","display_name":"Neuromorphic engineering","score":0.9494092464447021},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.7454001903533936},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.643103837966919},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6296669840812683},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6134876012802124},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6030765175819397},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.5354893803596497},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5061225295066833},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.46625080704689026},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4521711468696594},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4407047927379608},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33987125754356384},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2741619348526001},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22941839694976807},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.2171839475631714}],"concepts":[{"id":"https://openalex.org/C151927369","wikidata":"https://www.wikidata.org/wiki/Q1981312","display_name":"Neuromorphic engineering","level":3,"score":0.9494092464447021},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.7454001903533936},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.643103837966919},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6296669840812683},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6134876012802124},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6030765175819397},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.5354893803596497},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5061225295066833},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.46625080704689026},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4521711468696594},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4407047927379608},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33987125754356384},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2741619348526001},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22941839694976807},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.2171839475631714},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros45743.2020.9341391","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341391","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arpi.unipi.it:11568/1116778","is_oa":true,"landing_page_url":"https://hdl.handle.net/11568/1116778","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/fc4aba78-9e98-409d-a8a6-368224fa4b49","is_oa":false,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/fc4aba78-9e98-409d-a8a6-368224fa4b49","pdf_url":null,"source":{"id":"https://openalex.org/S7407055359","display_name":"Explore Bristol Research","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Ward-Cherrier, B, Conradt, J, Catalano, M G, Bianchi, M & Lepora, N F 2021, A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/iros45743.2020.9341391","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:arpi.unipi.it:11568/1116778","is_oa":true,"landing_page_url":"https://hdl.handle.net/11568/1116778","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.6299999952316284}],"awards":[],"funders":[{"id":"https://openalex.org/F4320311687","display_name":"Ministry of Education","ror":"https://ror.org/03m01yf64"},{"id":"https://openalex.org/F4320319993","display_name":"Leverhulme Trust","ror":"https://ror.org/012mzw131"},{"id":"https://openalex.org/F4320320360","display_name":"University of Bristol","ror":"https://ror.org/0524sp257"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W206948248","https://openalex.org/W1505952289","https://openalex.org/W1533483954","https://openalex.org/W1548071717","https://openalex.org/W1971674194","https://openalex.org/W1972904005","https://openalex.org/W1983156320","https://openalex.org/W1992034559","https://openalex.org/W2016574277","https://openalex.org/W2041221222","https://openalex.org/W2060102040","https://openalex.org/W2060561757","https://openalex.org/W2070851291","https://openalex.org/W2073272844","https://openalex.org/W2074936002","https://openalex.org/W2089809945","https://openalex.org/W2096671349","https://openalex.org/W2126341038","https://openalex.org/W2132867546","https://openalex.org/W2134307143","https://openalex.org/W2134500330","https://openalex.org/W2148008242","https://openalex.org/W2155402915","https://openalex.org/W2163630896","https://openalex.org/W2164575107","https://openalex.org/W2181574851","https://openalex.org/W2208505871","https://openalex.org/W2344461637","https://openalex.org/W2416254177","https://openalex.org/W2589847876","https://openalex.org/W2741251503","https://openalex.org/W2781493652","https://openalex.org/W2837391606","https://openalex.org/W2903932337","https://openalex.org/W2912332929","https://openalex.org/W2969028243","https://openalex.org/W3083311324","https://openalex.org/W6630201400","https://openalex.org/W6686043523","https://openalex.org/W6716503989"],"related_works":["https://openalex.org/W2986579802","https://openalex.org/W4389237622","https://openalex.org/W3108691306","https://openalex.org/W2544373263","https://openalex.org/W2166446064","https://openalex.org/W4386100501","https://openalex.org/W2968390578","https://openalex.org/W4389897638","https://openalex.org/W2962964599","https://openalex.org/W2163918849"],"abstract_inverted_index":{"Restoring":[0],"tactile":[1,40],"sensation":[2],"is":[3,64,78],"essential":[4],"to":[5,23,25,46,80,105],"enable":[6],"in-hand":[7],"manipulation":[8],"and":[9,90,114],"the":[10,74,86,109],"smooth,":[11],"natural":[12],"control":[13,72],"of":[14,51,58,73,96,111],"upper-limb":[15],"prosthetic":[16],"devices.":[17],"Here":[18],"we":[19],"present":[20],"a":[21,37,67],"platform":[22,63,77,102],"contribute":[24],"that":[26],"long-term":[27],"vision,":[28],"combining":[29],"an":[30],"anthropomorphic":[31],"robot":[32],"hand":[33],"(QB":[34],"SoftHand)":[35],"with":[36,66],"neuromorphic":[38],"optical":[39],"sensor":[41],"(neuroTac).":[42],"Neuromorphic":[43],"sensors":[44],"aim":[45],"produce":[47],"efficient,":[48],"spike-based":[49],"representations":[50],"information":[52],"for":[53],"bio-inspired":[54],"processing.":[55],"The":[56,76],"development":[57],"this":[59],"5-fingered,":[60],"sensorized":[61],"hardware":[62],"validated":[65],"customized":[68],"mount":[69],"allowing":[70],"manual":[71],"hand.":[75],"demonstrated":[79],"succesfully":[81],"identify":[82],"4":[83,94],"objects":[84],"from":[85],"YCB":[87],"object":[88],"set,":[89],"accurately":[91],"discriminate":[92],"between":[93],"directions":[95],"shear":[97],"during":[98],"stable":[99],"grasps.":[100],"This":[101],"could":[103],"lead":[104],"wide-ranging":[106],"developments":[107],"in":[108],"areas":[110],"haptics,":[112],"prosthetics":[113],"telerobotics.":[115]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
