{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/biomimetic-tactile-receptors-for-3d-printed","title":"Artificial SA-I and RA-I Afferents for Tactile Sensing of Ridges and Gratings","arxiv_id":"2107.02084","date":"2021-07-05","proceeding":null,"authors":["Nicholas Pestell","Thom Griffith","Nathan F. Lepora"],"abstract":"For robot touch to converge with the human sense of touch, artificial transduction should involve biologically-plausible population codes analogous to those of natural afferents. Using a biomimetic tactile sensor with 3d-printed skin based on the dermal-epidermal boundary, we propose two novel feature sets to mimic slowly-adapting and rapidly-adapting type-I tactile mechanoreceptor function. Their plausibility is tested with three classic experiments from the study of natural touch: impingement on a flat plate to probe adaptation and spatial modulation; stimulation by spatially-complex ridged stimuli to probe single afferent responses; and perception of grating orientation to probe the population response. Our results show a match between artificial and natural afferent responses in their sensitivity to edges and gaps; likewise, the human and robot psychometric functions match for grating orientation. These findings could benefit robot manipulation, prosthetics and the neurophysiology of touch.","url_abs":"https://arxiv.org/abs/2107.02084v3","url_pdf":"https://arxiv.org/pdf/2107.02084v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"biomimetic-tactile-receptors-for-3d-printed","repo_url":"https://github.com/nlepora/afferents-tactile-gratings-jrsi2022","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}