2023
Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks
C Ford, H Li, J Lloyd, M Catalano, M Bianchi, E Psomopoulou, N Lepora (2023) ICRA
Preprint: arXiv
Tac-VGNN: A Voronoi Graph Neural Network
for Pose-Based Tactile Servoing
W Fan, M Yang, Y Xing, N Lepora, D Zhang (2023) ICRA
Preprint: arXiv
An overview of robotic grippers
T Cairnes, C Ford, E Psomopoulou, N Lepora (2023) IEEE Potentials
Preprint: arXiv
Towards Living Machines: future trends of tactile sensing, grasping & social robotics
V Vouloutsi et al (2023) Bioinspiration & Biomimetics
2022
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
Preprint: arXiv
One-Shot Domain-Adaptive Imitation Learning via Progressive Learning Applied to Robotic Pouring
D Zhang, W Fan, J Lloyd, C Yang, N Lepora (2022) IEEE T-ASE
Biomimetic Perception, Cognition, and Control: From Nature to Robots [From the Guest Editors]
C Yang et al (2022) IEEE Robotics & Automation Magazine
Neuromorphic Tactile Edge Orientation Classification in an Unsupervised Spiking Neural Network
F MacDonand et al (2022) Sensors
2021
Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review
N Lepora (2021) IEEE Sensors
Preprint: arXiv
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
Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands
N Lepora et al (2021) ICRA
Preprint: arXiv
Probabilistic Discriminative Models Address the Tactile Perceptual Aliasing Problem
J Lloyd, Y Lin, N Lepora (2021) Robotics: Science & Systems
Preprint: arXiv
Uncertainty-aware deep learning for robot touch: Application to Bayesian tactile servo control
M Vazquez, N Lepora (2021) ICRA
Preprint: arXiv
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
Learning to Live Life on the Edge: Online Learning for Data-Efficient Tactile Contour Following
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
Sim-to-real transfer for optical tactile sensing
Z Dheng, N Lepora, E Johns (2020) ICRA
Active touch sensing in mammals and robots
T Prescott et al (2020) Chapter in: ‘In the senses: A reference’
2019
From pixels to percepts: Highly robust edge perception and contour following using deep learning and an optical biomimetic tactile sensor
N Lepora et al (2019) IEEE Robotics & Automation Letters
Preprint: arXiv
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
Convolutional autoencoder for feature extraction in tactile sensing
M Polic et al (2019) IEEE RA-L
Editorial Special Issue on Active Perception for Industrial Intelligence
H Liu et al (2019) IEEE Trans. Aut. Science & Engineering
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
Voronoi features for tactile sensing: Direct inference of pressure, shear and location
L Cramphorn, J Lloyd, N Lepora (2018) ICRA
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
Object exploration using vision and active touch
C Yang, N Lepora (2017) IROS
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
Biology to Technology in Active Touch Sensing–Introduction to Special Section, IEEE Transactions on Haptics
Active tactile perception, Scholarpedia of Touch
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
Brain-inspired bayesian perception for biomimetic robot touch
N Lepora, …, T Prescott (2012) ICRA
Naive Bayes novelty detection for a moving robot with whiskers
N Lepora, …, Prescott (2010) ROBIO
Naive Bayes texture classification applied to whisker data from a moving robot
N Lepora, … T Prescott (2010) IJCNN
The robot vibrissal system: understanding sensorimotor coordination through biomimetics, chapter
The effect of whisker movement on radial distance estimation (2013) Frontiers in neurorobotics
Tactile discrimination using active whisker sensors (2012) IEEE Sensors Journal
Whiskered texture classification with uncertain contact pose geometry (2012) IROS
Whisker-object contact speed affects radial distance estimation (2010) ROBIO
Neuroscience
Feature attention as a control mechanism for the balance of speed and accuracy in visual search
T Griffith, F. Townend, S. Baker, N Lepora (2023) Computational Brain and Behaviour
What deep reinforcement learning tells us about human motor learning and vice-versa
M Garibbo, C Ludwig, N Lepora, L Aitchison (2023) In submission
Preprint: arXiv
Degenerate Boundaries for Multiple-Alternative Decisions
S Baker, T Griffith, N Lepora (2022) Nature Communications, open access
Open software: DegenerateBoundaries_NatComm22
Open data: degenerate-boundaries-natcom2022
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
The statistics of optimal decision making: Exploring the relationship between signal detection theory and sequential analysis
T Griffith, SA Baker, N Lepora (2021) Journal of Mathematical Psychology
Threshold Learning for Optimal Decision Making
N Lepora (2016) NeurIPS
Embodied choice: how action influences perceptual decision making
N Lepora, G Pezzulo (2015) PLoS Computational Biology
Probabilistic decision making with spikes: From ISI distributions to behaviour via information gain
J Caballero, N Lepora, K Gurney (2015) PLoS one
The basal ganglia optimize decision making over general perceptual hypotheses
N Lepora, K Gurney (2012) Neural Computation
Efficient fitting of conductance-based model neurons from somatic current clamp
N Lepora, P Overton, K Gurney (2012) Journal of computational neuroscience
A simple method for characterizing passive and active neuronal properties: application to striatal neurons
N Lepora, …, K Gurney (2011) European Journal of Neuroscience
Sensory prediction or motor control? Application of Marr–Albus type models of cerebellar function to classical conditioning
N Lepora, J Porrill, C Yeo, P Dean (2010) Frontiers in 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
Evidence from retractor bulbi EMG for linearized motor control of nictitating membrane responses
NF Lepora, …, P Dean (2007) 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
Nathan Lepora 