Papers

Robotics: 2022, 2021, 2020, 2019, 2018, 2017, 2016, 2010-15
Neuroscience: all Biomimetics: all

2022

DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch
N Lepora, Y Lin, B Money-Coomes, J Lloyd (2022) IEEE Robotics & Automation Letters
Preprint: arXiv
Open software: pbts-2d
Open hardware: digitac-design, tactip-hardware
Open data: data-bris repository
Also see: webpage

Tactile Gym 2.0: Sim-to-real Deep Reinforcement Learning for Comparing Low-cost High-Resolution Robot Touch
Y Lin, J Lloyd, A Church, N Lepora (2022) IEEE Robotics & Automation Letters
Preprint: arXiv
Open software: tactile-gym
Also see: webpage

BRL/Pisa/IIT SoftHand: A Low-cost, 3D-Printed, Underactuated, Tendon-Driven Hand with Soft and Adaptive Synergies
H Li, C Ford, M Bianchi, M Catalano, E Psomopoulou, N Lepora (2022) IEEE Robotics & Automation Letters
Preprint: arXiv
Open hardware: BPI-SoftHand
Also see: webpage

Artificial SA-I and RA-I Afferents for Tactile Sensing of Ridges and Gratings
N Pestell, T Griffith, N Lepora (2022) Journal of the Royal Society Interface
Preprint: arXiv
Open software: afferents-tactile-gratings-jrsi2022
Open data: data-bris repository
Also see: Royal Society blog article and Science article

Artificial SA-I, RA-I and Vibrational Afferents for Tactile Sensing of Texture
N Pestell, N Lepora (2022) Journal of the Royal Society Interface
Preprint: arXiv
Open software: afferents-tactile-textures-jrsi2022
Open data: data-bris repository

Mapping Mid-Air Haptics With a Low-Cost Tactile Robot
N Alakhawand, W Frier, N Lepora (2022) IEEE Robotics & Automation Letters
Preprint: arXiv

Semi-Supervised Disentanglement of Tactile Contact Geometry from Sliding-Induced Shear
A Gupta, A Church, N Lepora (2022) IROS

2021

Pose-Based Tactile Servoing: Controlled Soft Touch with Deep Learning
N Lepora, J Lloyd (2021) IEEE Robotics & Automation Magazine
Preprint: arXiv

Tactile Sim-to-Real Policy Transfer via Real-to-Sim Tactile Image Translation
A Church, J Lloyd, R Hadsell, N Lepora (2021) CoRL
Open access
Open software: tactile_gym
Also see: webpage

Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear
A Gupta, L Aitcheson, N Lepora (2021) CoRL
Open access

Goal-Driven Robotic Pushing using Tactile and Proprioceptive Feedback
J Lloyd, N Lepora (2021) IEEE Transactions on Robotics
Preprint: arXiv

Slip Detection for Grasp Stabilization with a Multifingered Tactile Robot Hand
J James, N Lepora (2021) IEEE Transactions on Robotics
Preprint: arXiv

A robust controller for stable 3D pinching using tactile sensing
E Psomopoulou, N Pestell, F Papadopoulos, J Lloyd, Z Doulgeri, N Lepora (2021) IEEE Robotics & Automation Letters
Preprint: arXiv

Probabilistic Discriminative Models Address the Tactile Perceptual Aliasing Problem
J Lloyd, Y Lin, N Lepora (2021) Robotics: Science & Systems

2020

Optimal deep learning for robot touch: Training accurate pose models of 3d surfaces and edges
N Lepora, J Lloyd (2020) IEEE Robotics & Automation Magazine
Preprint: arXiv

Tactile Model O: Fabrication & testing of a 3d-printed, 3-fingered tactile robot hand
J James, A Church, N Lepora (2020) Soft Robotics
Open access

Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard
A Church, J Lloyd, R Hadsell, N Lepora (2020) IEEE Robotics & Automation Letters
Preprint: arXiv

A Biomimetic Tactile Fingerprint Induces Incipient Slip
J James, S Redmond, N Lepora (2020) IROS
Preprint: arXiv

NeuroTac: A neuromorphic optical tactile sensor applied to texture recognition
B Ward-Cherrier, N Pestell, N Lepora (2020) ICRA
Preprint: arXiv

A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand
B Ward-Cherrier, J Conradt, M Catalano, M Bianchi, N Lepora (2020) IROS

Walking on TacTip toes: A tactile sensing foot for walking robots
L Stone, N Lepora, D Barton (2020) IROS
Preprint: arXiv

Sensing Ultrasonic Mid-Air Haptics with a Biomimetic Tactile Fingertip
N Alakhawand, W Frier, K McAdam Freud, O Georgiou, N lepora (2020) EuroHaptics
Open Access

2019

A sense of touch for the shadow modular grasper
N Pestell, L Cramphorn, F Papadopoulos, N Lepora (2019) IEEE Robotics & Automation Letters
Preprint: bris.ac.uk

Shear-invariant Sliding Contact Perception with a Soft Tactile Sensor
K Aquilina, D Barton, N Lepora (2019) ICRA
Preprint: arXiv

2018

The TacTip family: Soft optical tactile sensors with 3d-printed biomimetic morphologies
B Ward-Cherrier, …, N Lepora (2018) Soft robotics
Open access

Slip detection with a biomimetic tactile sensor
J James, N Pestell, N Lepora (2018) IEEE Robotics & Automation Letters
Open access

Principal components of touch
K Aquilina, D Barton, N Lepora (2018) ICRA

Dual-modal tactile perception and exploration
N Pestell, J Lloyd, J Rossiter, N Lepora (2018) IEEE Robotics & Automation Letters

TacWhiskers: Biomimetic optical tactile whiskered robots
N Lepora, M Pearson, L Cramphorn (2018) IROS

Active Touch with a Biomimetic 3D-Printed Whiskered Robot
N Lepora, N Burnus, Yi Tao, L Cramphorn (2018) Living Machines

2017

Exploratory tactile servoing with active touch
N Lepora et al (2017) IEEE Robotics and Automation Letters

Model-free precise in-hand manipulation with a 3d-printed tactile gripper
B Ward-Cherrier, N Rojas, N Lepora (2017) IEEE Robotics and Automation Letters

Exploiting sensor symmetry for generalized tactile perception in biomimetic touch
B Ward-Cherrier, L Cramphorn, N Lepora (2017) IEEE Robotics and Automation Letters

Addition of a biomimetic fingerprint on an artificial fingertip enhances tactile spatial acuity
L Cramphorn, B Ward-Cherrier, N Lepora (2017) IEEE Robotics and Automation Letters

Active sensorimotor control for tactile exploration
U Martinez-Hernandez, … N Lepora (2017) Robotics and Autonomous Systems

2016

Biomimetic active touch with fingertips and whiskers
N Lepora (2016) IEEE Transactions on Haptics

Superresolution with an optical tactile sensor
N Lepora, B Ward-Cherrier (2015) IROS

Tactile manipulation with a TacThumb integrated on the open-hand M2 gripper
B Ward-Cherrier, L Cramphorn, N Lepora (2016) IEEE Robotics and Automation Letters

Tactile quality control with biomimetic active touch
N Lepora, B Ward-Cherrier (2016) IEEE Robotics and Automation Letters

Tactile manipulation with biomimetic active touch
L Cramphorn, B Ward-Cherrier, N Lepora (2016) ICRA

2010-15 robotics

Biomimetics

The state of the art in biomimetics
N Lepora, P Verschure, T Prescott (2013) Bioinspiration & biomimetics

A future of living machines? International trends and prospects in biomimetic and biohybrid systems
T Prescott, N Lepora, P Vershure (2014) Bioinspiration, Biomimetics, and Bioreplication

Living Machines 2012: The First International Conference on Biomimetic and Biohybrid Systems
N Lepora, A Mura, P Verschure, T Prescott (2013) Bioinspiration & biomimetics

Robot touch – iCub fingertip

Tactile superresolution and biomimetic hyperacuity
N Lepora et al (2015) IEEE Transactions on Robotics

Active Bayesian Perception for Simultaneous Object Localization and Identification
N Lepora, U Martinez-Hernandez, T Prescott (2013) Robotics: Science and Systems

Active touch for robust perception under position uncertainty
N Lepora, U Martinez-Hernandez, T Prescott (2013) ICRA

Embodied hyperacuity: Shape and position discrimination with an icub fingertip sensor
N Lepora, U Martinez-Hernandez, …, T Prescott (2012) IROS

Active Bayesian perception and reinforcement learning
N Lepora, U Martinez-Hernandez, G Pezzulo, T Prescott (2013) IROS

Active contour following to explore object shape with robot touch
U Martinez-Hernandez, …, N Lepora (2013) World Haptics Conference

Active Bayesian perception for angle and position discrimination with a biomimetic fingertip
U Martinez-Hernandez, T Dodd, T Prescott, N Lepora (2013) IROS

Robot touch – whiskers

Optimal decision-making in mammals: insights from a robot study of rodent texture discrimination
N Lepora, …, T Prescott (2012) Journal of The Royal Society Interface

Neuroscience

Degenerate Boundaries for Multiple-Alternative Decisions
S Baker, T Griffith, N Lepora (2022) Nature Communications, in press

Learning offline: memory replay in biological and artificial reinforcement learning
E Roscow, R Chua, R Ponte Costa, M Jones, N Lepora (2021) Trends in Neurosciences
Preprint: arXiv

Embodied choice: how action influences perceptual decision making
N Lepora, G Pezzulo (2015) PLoS Computational Biology

Efficient fitting of conductance-based model neurons from somatic current clamp
N Lepora, P Overton, K Gurney (2012) Journal of computational neuroscience

Capturing dopaminergic modulation and bimodal membrane behaviour of striatal medium spiny neurons in accurate, reduced models
M Humphries, N Lepora, R Wood, K Gurney (2009) Frontiers in computational neuroscience

Nonlinear dynamic modeling of isometric force production in primate eye muscle
S Anderson, N Lepora, J Porrill, P Dean (2010) IEEE Transactions on Biomedical Engineering

Recruitment in retractor bulbi muscle during eyeblink conditioning: EMG analysis and common-drive model
N Lepora, J Porrill, C Yeo, C Evinger, P Dean (2009) Journal of neurophysiology

Response linearity determined by recruitment strategy in detailed model of nictitating membrane control
E Mavritsaki, N Lepora, J Porrill, C Yeo, P Dean (2007) Biological cybernetics