Response linearity determined by recruitment strategy in detailed model of nictitating membrane control. - Eirini Mavritsaki; Nathan F. Lepora; John Porrill; Christopher H. Yeo; Paul Dean (Biol. Cybern., 2007)

Capturing dopaminergic modulation and bimodal membrane behaviour of striatal medium spiny neurons in accurate, reduced models. - Mark D. Humphries; Nathan F. Lepora; Ric Wood; Kevin N. Gurney (Frontiers Comput. Neurosci., 2009)

Naive Bayes texture classification applied to whisker data from a moving robot. - Nathan F. Lepora; Mathew H. Evans; Charles W. Fox; Mathew E. Diamond; Kevin N. Gurney; Tony J. Prescott (IJCNN, 2010)

Whisker-object contact speed affects radial distance estimation. - Mathew H. Evans; Charles W. Fox; Martin J. Pearson; Nathan F. Lepora; Tony J. Prescott (ROBIO, 2010)

Naive Bayes novelty detection for a moving robot with whiskers. - Nathan F. Lepora; Martin J. Pearson; Benjamin Mitchinson; Mathew H. Evans; Charles W. Fox; Anthony G. Pipe; Kevin N. Gurney; Tony J. Prescott (ROBIO, 2010)

Sensory Prediction or Motor Control? Application of Marr-Albus Type Models of Cerebellar Function to Classical Conditioning. - Nathan F. Lepora; John Porrill; Christopher H. Yeo; Paul Dean (Frontiers Comput. Neurosci., 2010)

Nonlinear Dynamic Modeling of Isometric Force Production in Primate Eye Muscle. - Sean R. Anderson; Nathan F. Lepora; John Porrill; Paul Dean (IEEE Trans. Biomed. Eng., 2010)

CrunchBot: A Mobile Whiskered Robot Platform. - Charles W. Fox; Mathew H. Evans; Nathan F. Lepora; Martin J. Pearson; Andy Ham; Tony J. Prescott (TAROS, 2011)

A General Classifier of Whisker Data Using Stationary Naive Bayes: Application to BIOTACT Robots. - Nathan F. Lepora; Charles W. Fox; Mathew H. Evans; Benjamin Mitchinson; Asma Motiwala; J. Charlie Sullivan; Martin J. Pearson; Jason Welsby; Anthony G. Pipe; Kevin N. Gurney; Tony J. Prescott (TAROS, 2011)

Sensing with Artificial Tactile Sensors: An Investigation of Spatio-temporal Inference. - Asma Motiwala; Charles W. Fox; Nathan F. Lepora; Tony J. Prescott (TAROS, 2011)

Brain-inspired Bayesian perception for biomimetic robot touch. - Nathan F. Lepora; J. Charlie Sullivan; Benjamin Mitchinson; Martin J. Pearson; Kevin N. Gurney; Tony J. Prescott (ICRA, 2012)

Whiskered texture classification with uncertain contact pose geometry. - Mathew H. Evans; Martin J. Pearson; Nathan F. Lepora; Tony J. Prescott; Charles W. Fox (IROS, 2012)

Embodied hyperacuity from Bayesian perception: Shape and position discrimination with an iCub fingertip sensor. - Nathan F. Lepora; Uriel Martinez-Hernandez; Hector Barron-Gonzalez; Mathew H. Evans; Giorgio Metta; Tony J. Prescott (IROS, 2012)

Towards a Framework for Tactile Perception in Social Robotics. - Hector Barron-Gonzalez; Nathan F. Lepora; Uriel Martinez-Hernandez; Mathew H. Evans; Tony J. Prescott (Living Machines, 2012)

The State-of-the-Art in Biomimetics. - Nathan F. Lepora; Paul F. M. J. Verschure; Tony J. Prescott (Living Machines, 2012)

Texture Classification through Tactile Sensing. - Uriel Martinez-Hernandez; Hector Barron-Gonzalez; Mathew H. Evans; Nathan F. Lepora; Tony J. Dodd; Tony J. Prescott (Living Machines, 2012)

Towards Contour Following Exploration Based on Tactile Sensing with the iCub Fingertip. - Uriel Martinez-Hernandez; Nathan F. Lepora; Hector Barron-Gonzalez; Tony J. Dodd; Tony J. Prescott (TAROS, 2012)

The effect of whisker movement on radial distance estimation: a case study in comparative robotics. - Mathew H. Evans; Charles W. Fox; Nathan F. Lepora; Martin J. Pearson; J. Charles Sullivan; Tony J. Prescott (Frontiers Neurorobotics, 2012)

Efficient fitting of conductance-based model neurons from somatic current clamp. - Nathan F. Lepora; Paul G. Overton; Kevin N. Gurney (J. Comput. Neurosci., 2012)

The Basal Ganglia Optimize Decision Making over General Perceptual Hypotheses. - Nathan F. Lepora; Kevin N. Gurney (Neural Comput., 2012)

Action Discovery and Intrinsic Motivation: A Biologically Constrained Formalisation. - Kevin N. Gurney; Nathan F. Lepora; Ashvin Shah; Ansgar Koene; Peter Redgrave (Intrinsically Motivated Learning in Natural and Artificial Systems, 2013)

Cerebellum-based adaptation for fine haptic control over the space of uncertain surfaces. - Hector Barron-Gonzalez; John Porrill; Nathan F. Lepora; Eris Chinellato; Giorgio Metta; Tony J. Prescott (World Haptics, 2013)

Active contour following to explore object shape with robot touch. - Uriel Martinez-Hernandez; Giorgio Metta; Tony J. Dodd; Tony J. Prescott; Lorenzo Natale; Nathan F. Lepora (World Haptics, 2013)

Active touch for robust perception under position uncertainty. - Nathan F. Lepora; Uriel Martinez-Hernandez; Tony J. Prescott (ICRA, 2013)

Active Bayesian perception and reinforcement learning. - Nathan F. Lepora; Uriel Martinez-Hernandez; Giovanni Pezzulo; Tony J. Prescott (IROS, 2013)

Active Bayesian perception for angle and position discrimination with a biomimetic fingertip. - Uriel Martinez-Hernandez; Tony J. Dodd; Tony J. Prescott; Nathan F. Lepora (IROS, 2013)

A SOLID Case for Active Bayesian Perception in Robot Touch. - Nathan F. Lepora; Uriel Martinez-Hernandez; Tony J. Prescott (Living Machines, 2013)

Towards a Roadmap for Living Machines. - Nathan F. Lepora; Paul F. M. J. Verschure; Tony J. Prescott (Living Machines, 2013)

Angle and Position Perception for Exploration with Active Touch. - Uriel Martinez-Hernandez; Tony J. Dodd; Tony J. Prescott; Nathan F. Lepora (Living Machines, 2013)

Active Bayesian Perception for Simultaneous Object Localization and Identification. - Nathan F. Lepora; Uriel Martinez-Hernandez; Tony J. Prescott (Robotics: Science and Systems, 2013)

Active haptic shape recognition by intrinsic motivation with a robot hand. - Uriel Martinez-Hernandez; Nathan F. Lepora; Tony J. Prescott (World Haptics, 2015)

Superresolution with an optical tactile sensor. - Nathan F. Lepora; Benjamin Ward-Cherrier (IROS, 2015)

Active Control for Object Perception and Exploration with a Robotic Hand. - Uriel Martinez-Hernandez; Nathan F. Lepora; Tony J. Prescott (Living Machines, 2015)

Embodied Choice: How Action Influences Perceptual Decision Making. - Nathan F. Lepora; Giovanni Pezzulo (PLoS Comput. Biol., 2015)

Active tactile perception. - Nathan F. Lepora (Scholarpedia, 2015)

Tactile Superresolution and Biomimetic Hyperacuity. - Nathan F. Lepora; Uriel Martinez-Hernandez; Mathew H. Evans; Lorenzo Natale; Giorgio Metta; Tony J. Prescott (IEEE Trans. Robotics, 2015)

Tactile manipulation with biomimetic active touch. - Luke Cramphorn; Benjamin Ward-Cherrier; Nathan F. Lepora (ICRA, 2016)

Gaussian Process Regression for a Biomimetic Tactile Sensor. - Kirsty Aquilina; David A. W. Barton; Nathan F. Lepora (Living Machines, 2016)

A Biomimetic Fingerprint Improves Spatial Tactile Perception. - Luke Cramphorn; Benjamin Ward-Cherrier; Nathan F. Lepora (Living Machines, 2016)

Force Sensing with a Biomimetic Fingertip. - Maria Elena Giannaccini; Stuart Whyle; Nathan F. Lepora (Living Machines, 2016)

Tactile Exploration by Contour Following Using a Biomimetic Fingertip. - Nicholas Pestell; Benjamin Ward-Cherrier; Luke Cramphorn; Nathan F. Lepora (Living Machines, 2016)

Discrimination-Based Perception for Robot Touch. - Emma Roscow; Christopher Kent; Ute Leonards; Nathan F. Lepora (Living Machines, 2016)

Exploiting Symmetry to Generalize Biomimetic Touch. - Benjamin Ward-Cherrier; Luke Cramphorn; Nathan F. Lepora (Living Machines, 2016)

Threshold Learning for Optimal Decision Making. - Nathan F. Lepora (NIPS, 2016)

Tactile Quality Control With Biomimetic Active Touch. - Nathan F. Lepora; Benjamin Ward-Cherrier (IEEE Robotics Autom. Lett., 2016)

Tactile Manipulation With a TacThumb Integrated on the Open-Hand M2 Gripper. - Benjamin Ward-Cherrier; Luke Cramphorn; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2016)

Biomimetic Active Touch with Fingertips and Whiskers. - Nathan F. Lepora (IEEE Trans. Haptics, 2016)

Biology to Technology in Active Touch Sensing - Introduction to the Special Section. - Yon Visell; Nathan F. Lepora; Mitra J. Z. Hartmann; Vincent Hayward (IEEE Trans. Haptics, 2016)

Object exploration using vision and active touch. - Chuanyu Yang; Nathan F. Lepora (IROS, 2017)

Addition of a Biomimetic Fingerprint on an Artificial Fingertip Enhances Tactile Spatial Acuity. - Luke Cramphorn; Benjamin Ward-Cherrier; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2017)

Exploratory Tactile Servoing With Active Touch. - Nathan F. Lepora; Kirsty Aquilina; Luke Cramphorn (IEEE Robotics Autom. Lett., 2017)

Exploiting Sensor Symmetry for Generalized Tactile Perception in Biomimetic Touch. - Benjamin Ward-Cherrier; Luke Cramphorn; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2017)

Model-Free Precise in-Hand Manipulation with a 3D-Printed Tactile Gripper. - Benjamin Ward-Cherrier; Nicolás Rojas 002; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2017)

Active sensorimotor control for tactile exploration. - Uriel Martinez-Hernandez; Tony J. Dodd; Mathew H. Evans; Tony J. Prescott; Nathan F. Lepora (Robotics Auton. Syst., 2017)

Principal Components of Touch. - Kirsty Aquilina; David A. W. Barton; Nathan F. Lepora (ICRA, 2018)

Voronoi Features for Tactile Sensing: Direct Inference of Pressure, Shear, and Contact Locations. - Luke Cramphorn; John Lloyd; Nathan F. Lepora (ICRA, 2018)

TacWhiskers: Biomimetic Optical Tactile Whiskered Robots. - Nathan F. Lepora; Martin J. Pearson; Luke Cramphorn (IROS, 2018)

Slip Detection on Natural Objects with a Biomimetic Tactile Sensor. - Jasper Wollaston James; Nathan F. Lepora (Living Machines, 2018)

Active Touch with a Biomimetic 3D-Printed Whiskered Robot. - Nathan F. Lepora; Niels Burnus; Yilin Tao; Luke Cramphorn (Living Machines, 2018)

Texture Perception with a Biomimetic Optical Tactile Sensor. - Nicholas Pestell; Nathan F. Lepora (Living Machines, 2018)

MultiTip: A multimodal mechano-thermal soft fingertip. - Gabor Soter; Andrew T. Conn; Helmut Hauser; Nathan F. Lepora; Jonathan Rossiter (RoboSoft, 2018)

Slip Detection With a Biomimetic Tactile Sensor. - Jasper Wollaston James; Nicholas Pestell; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2018)

Dual-Modal Tactile Perception and Exploration. - Nicholas Pestell; John Lloyd; Jonathan Rossiter; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2018)

Shear-invariant Sliding Contact Perception with a Soft Tactile Sensor. - Kirsty Aquilina; David A. W. Barton; Nathan F. Lepora (ICRA, 2019)

Tactile Model O: Fabrication and testing of a 3d-printed, three-fingered tactile robot hand. - Alex Church; Jasper Wollaston James; Luke Cramphorn; Nathan F. Lepora (CoRR, 2019)

From Pixels to Percepts: Highly Robust Edge Perception and Contour Following Using Deep Learning and an Optical Biomimetic Tactile Sensor. - Nathan F. Lepora; Alex Church; Conrad De Kerckhove; Raia Hadsell; John Lloyd (IEEE Robotics Autom. Lett., 2019)

A Sense of Touch for the Shadow Modular Grasper. - Nicholas Pestell; Luke Cramphorn; Fotios Papadopoulos; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2019)

Convolutional Autoencoder for Feature Extraction in Tactile Sensing. - Marsela Polic; Ivona Krajacic; Nathan F. Lepora; Matko Orsag (IEEE Robotics Autom. Lett., 2019)

Guest Editorial Special Issue on Active Perception for Industrial Intelligence. - Huaping Liu 001; Nathan F. Lepora; Andrea Cherubini (IEEE Trans Autom. Sci. Eng., 2019)

Sensing Ultrasonic Mid-Air Haptics with a Biomimetic Tactile Fingertip. - Noor Alakhawand; William Frier; Kipp McAdam Freud; Orestis Georgiou; Nathan F. Lepora (EuroHaptics, 2020)

Sim-to-Real Transfer for Optical Tactile Sensing. - Zihan Ding; Nathan F. Lepora; Edward Johns (ICRA, 2020)

NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition. - Benjamin Ward-Cherrier; Nicholas Pestell; Nathan F. Lepora (ICRA, 2020)

A Biomimetic Tactile Fingerprint Induces Incipient Slip. - Jasper Wollaston James; Stephen J. Redmond; Nathan F. Lepora (IROS, 2020)

Learning to Live Life on the Edge: Online Learning for Data-Efficient Tactile Contour Following. - Elizabeth A. Stone; Nathan F. Lepora; David A. W. Barton (IROS, 2020)

Walking on TacTip toes: A tactile sensing foot for walking robots. - Elizabeth A. Stone; Nathan F. Lepora; David A. W. Barton (IROS, 2020)

A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand. - Benjamin Ward-Cherrier; Jörg Conradt; Manuel G. Catalano; Matteo Bianchi 002; Nathan F. Lepora (IROS, 2020)

Optimal Deep Learning for Robot Touch. - Nathan F. Lepora; John Lloyd (CoRR, 2020)

Slip detection for grasp stabilisation with a multi-fingered tactile robot hand. - Jasper Wollaston James; Nathan F. Lepora (CoRR, 2020)

Spatio-temporal encoding improves neuromorphic tactile texture classification. - Anupam K. Gupta; Andrei Nakagawa Silva; Nathan F. Lepora; Nitish V. Thakor (CoRR, 2020)

Pose-Based Servo Control with Soft Tactile Sensing. - Nathan F. Lepora; John Lloyd (CoRR, 2020)

Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard. - Alex Church; John Lloyd; Raia Hadsell; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2020)

Optimal Deep Learning for Robot Touch: Training Accurate Pose Models of 3D Surfaces and Edges. - Nathan F. Lepora; John Lloyd (IEEE Robotics Autom. Mag., 2020)

Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation. - Alex Church; John Lloyd; Raia Hadsell; Nathan F. Lepora (CoRL, 2021)

Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear. - Anupam K. Gupta; Laurence Aitchison; Nathan F. Lepora (CoRL, 2021)

Species-specific whisker morphology affects tactile interactions. - Robyn A. Grant; Gary Dougill; Nathan F. Lepora (WHC, 2021)

Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands. - Nathan F. Lepora; Chris Ford; Andrew Stinchcombe; Alfred Brown; John Lloyd; Manuel G. Catalano; Matteo Bianchi 002; Benjamin Ward-Cherrier (ICRA, 2021)

Uncertainty-aware deep learning for robot touch: Application to Bayesian tactile servo control. - Manuel Floriano Vázquez; Nathan F. Lepora (ICRA, 2021)

Probabilistic Discriminative Models address the Tactile Perceptual Aliasing Problem. - John Lloyd; Yijiong Lin; Nathan F. Lepora (Robotics: Science and Systems, 2021)

Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review. - Nathan F. Lepora (CoRR, 2021)

Optical Tactile Sim-to-Real Policy Transfer via Real-to-Sim Tactile Image Translation. - Alex Church; John Lloyd; Raia Hadsell; Nathan F. Lepora (CoRR, 2021)

Artificial SA-I and RA-I Afferentsfor Tactile Sensing of Ridges and Gratings. - Nicholas Pestell; Thom Griffith; Nathan F. Lepora (CoRR, 2021)

Learning offline: memory replay in biological and artificial reinforcement learning. - Emma L. Roscow; Raymond Chua; Rui Ponte Costa; Matt W. Jones; Nathan F. Lepora (CoRR, 2021)

Editorial: ViTac: Integrating Vision and Touch for Multimodal and Cross-Modal Perception. - Shan Luo 001; Nathan F. Lepora; Uriel Martinez-Hernandez; João Bimbo; Huaping Liu 001 (Frontiers Robotics AI, 2021)

A Robust Controller for Stable 3D Pinching Using Tactile Sensing. - Efi Psomopoulou; Nicholas Pestell; Fotios Papadopoulos; John Lloyd; Zoe Doulgeri; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2021)

Pose-Based Tactile Servoing: Controlled Soft Touch Using Deep Learning. - Nathan F. Lepora; John Lloyd (IEEE Robotics Autom. Mag., 2021)

Slip Detection for Grasp Stabilization With a Multifingered Tactile Robot Hand. - Jasper Wollaston James; Nathan F. Lepora (IEEE Trans. Robotics, 2021)

Graph Neural Networks for Interpretable Tactile Sensing. - Wen Fan 001; Hongbo Bo; Yijiong Lin; Yifan Xing; Weiru Liu; Nathan F. Lepora; Dandan Zhang 001 (ICAC, 2022)

Semi-Supervised Disentanglement of Tactile Contact Geometry from Sliding-Induced Shear. - Anupam K. Gupta; Alex Church; Nathan F. Lepora (IROS, 2022)

Active Inference for Artificial Touch: A Biologically-Plausible Tactile Control Method. - Pernilla Craig; Laurence Aitchison; Nathan F. Lepora (Living Machines, 2022)

Artificial SA-I, RA-I and RA-II/Vibrotactile Afferents for Tactile Sensing of Texture. - Nicholas Pestell; Nathan F. Lepora (CoRR, 2022)

One-Shot Domain-Adaptive Imitation Learning via Progressive Learning. - Dandan Zhang 001; Wen Fan 001; John Lloyd; Chenguang Yang 001; Nathan F. Lepora (CoRR, 2022)

What deep reinforcement learning tells us about human motor learning and vice-versa. - Michele Garibbo; Casimir J. H. Ludwig; Nathan F. Lepora; Laurence Aitchison (CoRR, 2022)

Mapping Mid-Air Haptics With a Low-Cost Tactile Robot. - Noor Alakhawand; William Frier; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2022)

DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch. - Nathan F. Lepora; Yijiong Lin; Ben Money-Coomes; John Lloyd (IEEE Robotics Autom. Lett., 2022)

BRL/Pisa/IIT SoftHand: A Low-Cost, 3D-Printed, Underactuated, Tendon-Driven Hand With Soft and Adaptive Synergies. - Haoran Li; Christopher J. Ford; Matteo Bianchi 002; Manuel G. Catalano; Efi Psomopoulou; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2022)

Tactile Gym 2.0: Sim-to-Real Deep Reinforcement Learning for Comparing Low-Cost High-Resolution Robot Touch. - Yijiong Lin; John Lloyd; Alex Church; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2022)

Biomimetic Perception, Cognition, and Control: From Nature to Robots [From the Guest Editors]. - Chenguang Yang 001; Shan Luo 001; Nathan F. Lepora; Fanny Ficuciello; Dongheui Lee; Weiwei Wan; Chun-Yi Su (IEEE Robotics Autom. Mag., 2022)

Neuromorphic Tactile Edge Orientation Classification in an Unsupervised Spiking Neural Network. - Fraser L. A. Macdonald; Nathan F. Lepora; Jörg Conradt; Benjamin Ward-Cherrier (Sensors, 2022)

Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback. - John Lloyd; Nathan F. Lepora (IEEE Trans. Robotics, 2022)

Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing. - Wen Fan 001; Max Yang; Yifan Xing; Nathan F. Lepora; Dandan Zhang 001 (ICRA, 2023)

Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks. - Christopher J. Ford; Haoran Li; John Lloyd; Manuel G. Catalano; Matteo Bianchi 002; Efi Psomopoulou; Nathan F. Lepora (ICRA, 2023)

Incipient Slip Detection with a Biomimetic Skin Morphology. - David Cordova Bulens; Nathan F. Lepora; Stephen J. Redmond; Benjamin Ward-Cherrier (IROS, 2023)

Attention for Robot Touch: Tactile Saliency Prediction for Robust Sim-to-Real Tactile Control. - Yijiong Lin; Mauro Comi; Alex Church; Dandan Zhang 001; Nathan F. Lepora (IROS, 2023)

An Overview of Robotic Grippers. - Thomas J. Cairnes; Christopher J. Ford; Efi Psomopoulou; Nathan F. Lepora (CoRR, 2023)

A pose and shear-based tactile robotic system for object tracking, surface following and object pushing. - John Lloyd; Nathan F. Lepora (CoRR, 2023)

Learning Fine Pinch-Grasp Skills using Tactile Sensing from Real Demonstration Data. - Xiaofeng Mao; Yucheng Xu; Ruoshi Wen; Mohammadreza Kasaei 001; Wanming Yu; Efi Psomopoulou; Nathan F. Lepora; Zhibin Li 001 (CoRR, 2023)

TacMMs: Tactile Mobile Manipulators for Warehouse Automation. - Zhuochao He; Xuyang Zhang; Simon Jones; Sabine Hauert; Dandan Zhang 001; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2023)

Bi-Touch: Bimanual Tactile Manipulation With Sim-to-Real Deep Reinforcement Learning. - Yijiong Lin; Alex Church; Max Yang; Haoran Li; John Lloyd; Dandan Zhang 001; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2023)

Visual-Tactile Robot Grasping Based on Human Skill Learning From Demonstrations Using a Wearable Parallel Hand Exoskeleton. - Zhenyu Lu 001; Lu Chen 003; Hengtai Dai; Haoran Li; Zhou Zhao; Bofang Zheng; Nathan F. Lepora; Chenguang Yang 001 (IEEE Robotics Autom. Lett., 2023)

Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing. - Max Yang; Yijiong Lin; Alex Church; John Lloyd; Dandan Zhang 001; David A. W. Barton; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2023)

Model-Based Compliance Discrimination via Soft Tactile Optical Sensing and Optical Flow Computation: A Biomimetic Approach. - Giulia Pagnanelli; Simone Ciotti; Nathan F. Lepora; Antonio Bicchi; Matteo Bianchi 002 (IEEE Robotics Autom. Lett., 2023)

Digital Twin-Driven Mixed Reality Framework for Immersive Teleoperation With Haptic Rendering. - Wen Fan 001; Xiaoqing Guo; Enyang Feng; Jialin Lin; Yuanyi Wang; Jiaming Liang; Martin Stephen Garrad; Jonathan Rossiter; Zhengyou Zhang; Nathan F. Lepora; Lei Wei 002; Dandan Zhang 001 (IEEE Robotics Autom. Lett., 2023)

BrainSLAM: SLAM on Neural Population Activity Data. - Kipp McAdam Freud; Nathan F. Lepora; Matt W. Jones; Cian O'Donnell (AAMAS, 2024)

AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch. - Max Yang; Chenghua Lu; Alex Church; Yijiong Lin; Christopher J. Ford; Haoran Li; Efi Psomopoulou; David A. W. Barton; Nathan F. Lepora (CoRL, 2024)

Self-Supervised Bayesian Visual Imitation Learning Applied to Robotic Pouring. - Dandan Zhang 001; Yu Zheng 001; Wen Fan 001; Nathan F. Lepora; Zhengyou Zhang (ICIT, 2024)

TacShade: A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction. - Zhenyu Lu 001; Jialong Yang; Haoran Li; Yifan Li; Weiyong Si; Nathan F. Lepora; Chenguang Yang 001 (ICRA, 2024)

ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor. - Wen Fan 001; Haoran Li; Weiyong Si; Shan Luo 001; Nathan F. Lepora; Dandan Zhang 001 (ICRA, 2024)

Efficient Tactile Sensing-based Learning from Limited Real-world Demonstrations for Dual-arm Fine Pinch-Grasp Skills. - Xiaofeng Mao; Yucheng Xu; Ruoshi Wen; Mohammadreza Kasaei 001; Wanming Yu; Efi Psomopoulou; Nathan F. Lepora; Zhibin Li 001 (IROS, 2024)

Softness Prediction with a Soft Biomimetic Optical Tactile Sensor. - Saekwang Nam; Toby Jack; Loong Yi Lee; Nathan F. Lepora (RoboSoft, 2024)

DexiTac: Soft Dexterous Tactile Gripping. - Chenghua Lu; Kailuan Tang; Max Yang; Tianqi Yue; Nathan F. Lepora (CoRR, 2024)

Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism. - Haoran Li; Christopher J. Ford; Chenghua Lu; Yijiong Lin; Matteo Bianchi 002; Manuel G. Catalano; Efi Psomopoulou; Nathan F. Lepora (CoRR, 2024)

TacPalm: A Soft Gripper with a Biomimetic Optical Tactile Palm for Stable Precise Grasping. - Xuyang Zhang; Tianqi Yang; Dandan Zhang 001; Nathan F. Lepora (CoRR, 2024)

ManiSkill-ViTac 2025: Challenge on Manipulation Skill Learning With Vision and Tactile Sensing. - Chuanyu Li; Renjun Dang; Xiang Li 009; Zhiyuan Wu; Jing Xu 011; Hamidreza Kasaei 001; Roberto Calandra; Nathan F. Lepora; Shan Luo 001; Hao Su 001; Rui Chen 019 (CoRR, 2024)

Pose-and-shear-based tactile servoing. - John Lloyd; Nathan F. Lepora (Int. J. Robotics Res., 2024)

Relating Human Error-Based Learning to Modern Deep RL Algorithms. - Michele Garibbo; Casimir J. H. Ludwig; Nathan F. Lepora; Laurence Aitchison (Neural Comput., 2024)

Tactile control for object tracking and dynamic contour following. - Kirsty Aquilina; David A. W. Barton; Nathan F. Lepora (Robotics Auton. Syst., 2024)

The future lies in a pair of tactile hands. - Nathan F. Lepora (Sci. Robotics, 2024)

One-Shot Domain-Adaptive Imitation Learning via Progressive Learning Applied to Robotic Pouring. - Dandan Zhang 001; Wen Fan 001; John Lloyd; Chenguang Yang 001; Nathan F. Lepora (IEEE Trans Autom. Sci. Eng., 2024)

A Lightweight and Affordable Wearable Haptic Controller for Robot-Assisted Microsurgery. - Xiaoqing Guo; Finn McFall; Peiyang Jiang; Jindong Liu; Nathan F. Lepora; Dandan Zhang 001 (Sensors, 2024)

TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction Using Vision-Based Tactile Sensing. - Mauro Comi; Yijiong Lin; Alex Church; Alessio Tonioni; Laurence Aitchison; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2024)

BioTacTip: A Soft Biomimetic Optical Tactile Sensor for Efficient 3D Contact Localization and 3D Force Estimation. - Haoran Li; Saekwang Nam; Zhenyu Lu 001; Chenguang Yang 001; Efi Psomopoulou; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2024)

Snap-it, Tap-it, Splat-it: Tactile-Informed 3D Gaussian Splatting for Reconstructing Challenging Surfaces. - Mauro Comi; Alessio Tonioni; Jonathan Tremblay; Max Yang; Valts Blukis; Yijiong Lin; Nathan F. Lepora; Laurence Aitchison (3DV, 2025)

Enabling Intrinsic Tactile Sensing with Soft Optical Tactile Sensors. - Leonardo Marcello; Giulia Pagnanelli; Nathan F. Lepora; Matteo Bianchi 002 (MED, 2025)

Decision Threshold Learning in the Basal Ganglia for Multiple Alternatives. - Thom Griffith; Sophie-Anne Baker; Nathan F. Lepora (Neural Comput., 2025)

IQM-Vis: A user-centric python toolbox for visualising and evaluating image quality metrics. - Matthew Clifford; Alexander Hepburn; Ricardo Kleinlein; Jorge Vila-Tomás; Pablo Hernández-Cámara; Paula Dauden; Nathan F. Lepora; Valero Laparra; Raúl Santos-Rodríguez (SoftwareX, 2025)

Shear-Based Grasp Control for Multifingered Underactuated Tactile Robotic Hands. - Christopher J. Ford; Haoran Li; Manuel G. Catalano; Matteo Bianchi 002; Efi Psomopoulou; Nathan F. Lepora (IEEE Trans. Robotics, 2025)

Integrating Human-Like Impedance Regulation and Model-Based Approaches for Compliance Discrimination via Biomimetic Optical Tactile Sensors. - Giulia Pagnanelli; Lucia Zinelli; Nathan F. Lepora; Manuel G. Catalano; Antonio Bicchi; Matteo Bianchi 002 (IEEE Trans. Robotics, 2025)

Guest EditorialSpecial Collection on Tactile Robotics. - Mark Yim; Shan Luo 001; Nathan F. Lepora; Wenzhen Yuan 001; Kaspar Althoefer; Gordon Cheng; Julio Rogelio Guadarrama-Olvera; Ravinder Dahiya (IEEE Trans. Robotics, 2025)

Design and Benchmarking of a Multimodality Sensor for Robotic Manipulation With GAN-Based Cross-Modality Interpretation. - Dandan Zhang 001; Wen Fan 001; Jialin Lin; Haoran Li; Qingzheng Cong; Weiru Liu; Nathan F. Lepora; Shan Luo 001 (IEEE Trans. Robotics, 2025)

Design and Benchmarking of A Multi-Modality Sensor for Robotic Manipulation with GAN-Based Cross-Modality Interpretation. - Dandan Zhang 001; Wen Fan 001; Jialin Lin; Haoran Li; Qingzheng Cong; Weiru Liu; Nathan F. Lepora; Shan Luo 001 (CoRR, 2025)

Coarse-to-Fine Robotic Pushing Using Touch, Vision and Proprioception. - Bowen Deng; Yijiong Lin; Max Yang; Nathan F. Lepora (IEEE Robotics Autom. Lett., 2025)

General Force Sensation for Tactile Robot. - Zhuo Chen; Ni Ou; Xuyang Zhang; Zhiyuan Wu; Yongqiang Zhao; Yupeng Wang; Nathan F. Lepora; Lorenzo Jamone; Jiankang Deng; Shan Luo 001 (CoRR, 2025)

Shear-based Grasp Control for Multi-fingered Underactuated Tactile Robotic Hands. - Christopher J. Ford; Haoran Li; Manuel G. Catalano; Matteo Bianchi 002; Efi Psomopoulou; Nathan F. Lepora (CoRR, 2025)

StereoTacTip: Vision-based Tactile Sensing with Biomimetic Skin-Marker Arrangements. - Chenghua Lu; Kailuan Tang; Xueming Hui; Haoran Li; Saekwang Nam; Nathan F. Lepora (CoRR, 2025)

A Neuromorphic Tactile System for Reliable Braille Reading in Noisy Environments. - Xingchen Xu; Nathan F. Lepora; Benjamin Ward-Cherrier (IEEE Robotics Autom. Lett., 2025)

Tactile Robotics: An Outlook. - Shan Luo 001; Nathan F. Lepora; Wenzhen Yuan 001; Kaspar Althoefer; Gordon Cheng; Ravinder Dahiya (CoRR, 2025)

Data-Driven Compliance Discrimination via Biomimetic Soft Optical Tactile Sensors: Implementation and Benchmarking With a Model-Based Approach. - Paolo Susini; Giulia Pagnanelli; Saekwang Nam; Nathan F. Lepora; Matteo Bianchi 002 (IEEE Robotics Autom. Lett., 2025)