Nathan F. Lepora

Most-cited papers

The TacTip Family: Soft Optical Tactile Sensors with 3D-Printed Biomimetic Morphologies
B. Ward-Cherrier, Nicholas Pestell, Luke Cramphorn, B. Winstone +3 more
2018Soft Robotics638 citations Open access
Semantic Scholar
Tactile Sensors for Friction Estimation and Incipient Slip Detection—Toward Dexterous Robotic Manipulation: A Review
Wei Chen, Heba Khamis, I. Birznieks, Nathan F. Lepora +1 more
2018IEEE Sensors Journal204 citations Open access
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Soft Biomimetic Optical Tactile Sensing With the TacTip: A Review
Nathan F. Lepora
2021IEEE Sensors Journal189 citations Open access
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Slip Detection With a Biomimetic Tactile Sensor
J. James, Nicholas Pestell, Nathan F. Lepora
2018IEEE Robotics and Automation Letters155 citations Open access
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Slip Detection for Grasp Stabilization With a Multifingered Tactile Robot Hand
J. James, Nathan F. Lepora
2021IEEE Transactions on robotics120 citations
Semantic Scholar
DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch
Nathan F. Lepora, Yijiong Lin, Ben Money-Coomes, J. Lloyd
2022IEEE Robotics and Automation Letters97 citations Open access
Semantic Scholar
NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition
B. Ward-Cherrier, Nicholas Pestell, Nathan F. Lepora
2020IEEE International Conference on Robotics and Automation91 citations Open access
Semantic Scholar
Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation
Alex Church, J. Lloyd, R. Hadsell, Nathan F. Lepora
2021Conference on Robot Learning80 citations
Semantic Scholar
Tactile Gym 2.0: Sim-to-Real Deep Reinforcement Learning for Comparing Low-Cost High-Resolution Robot Touch
Yijiong Lin, J. Lloyd, Alex Church, Nathan F. Lepora
2022IEEE Robotics and Automation Letters78 citations Open access
Semantic Scholar
AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch
Max Yang, Chenghua Lu, Alex Church, Yijiong Lin +5 more
2024Conference on Robot Learning77 citations
Semantic Scholar
Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback
J. Lloyd, Nathan F. Lepora
2020IEEE Transactions on robotics71 citations Open access
Semantic Scholar
Bi-Touch: Bimanual Tactile Manipulation With Sim-to-Real Deep Reinforcement Learning
Yijiong Lin, Alex Church, Max Yang, Haoran Li +3 more
2023IEEE Robotics and Automation Letters68 citations
Semantic Scholar
Optimal Deep Learning for Robot Touch: Training Accurate Pose Models of 3D Surfaces and Edges
Nathan F. Lepora, J. Lloyd
2020IEEE robotics & automation magazine61 citations Open access
Semantic Scholar
Pose-Based Tactile Servoing: Controlled Soft Touch Using Deep Learning
Nathan F. Lepora, J. Lloyd
2020IEEE robotics & automation magazine59 citations Open access
Semantic Scholar
Convolutional Autoencoder for Feature Extraction in Tactile Sensing
Marsela Polic, Ivona Krajacic, Nathan F. Lepora, M. Orsag
2019IEEE Robotics and Automation Letters59 citations
Semantic Scholar
Sim-to-Real Transfer for Optical Tactile Sensing
Zi-Han Ding, Nathan F. Lepora, Edward Johns
2020IEEE International Conference on Robotics and Automation56 citations Open access
Semantic Scholar
Tactile Model O: Fabrication and Testing of a 3D-Printed, Three-Fingered Tactile Robot Hand
Alex Church, J. James, Luke Cramphorn, Nathan F. Lepora
2019Soft Robotics54 citations Open access
Semantic Scholar
Pose-and-shear-based tactile servoing
J. Lloyd, Nathan F. Lepora
2023Int. J. Robotics Res.50 citations Open access
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TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction Using Vision-Based Tactile Sensing
Mauro Comi, Yijiong Lin, Alex Church, A. Tonioni +2 more
2023IEEE Robotics and Automation Letters49 citations
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BRL/Pisa/IIT SoftHand: A Low-Cost, 3D-Printed, Underactuated, Tendon-Driven Hand With Soft and Adaptive Synergies
Haoran Li, Christopher J. Ford, M. Bianchi, M. Catalano +2 more
2022IEEE Robotics and Automation Letters45 citations Open access
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Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard
Alex Church, J. Lloyd, R. Hadsell, Nathan F. Lepora
2020IEEE Robotics and Automation Letters37 citations Open access
Semantic Scholar
Voronoi Features for Tactile Sensing: Direct Inference of Pressure, Shear, and Contact Locations
Luke Cramphorn, J. Lloyd, Nathan F. Lepora
2018IEEE International Conference on Robotics and Automation37 citations Open access
Semantic Scholar
Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands
Nathan F. Lepora, Chris Ford, A. Stinchcombe, A. Brown +4 more
2021IEEE International Conference on Robotics and Automation36 citations Open access
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Learning offline: memory replay in biological and artificial reinforcement learning
Emma L. Roscow, Raymond Chua, R. P. Costa, Matt W. Jones +1 more
2021Trends in Neurosciences34 citations Open access
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Digital Twin-Driven Mixed Reality Framework for Immersive Teleoperation With Haptic Rendering
Wen Fan, Xiao-Qing Guo, Enyang Feng, Jia-Lin Lin +8 more
2023IEEE Robotics and Automation Letters33 citations Open access
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One-Shot Domain-Adaptive Imitation Learning via Progressive Learning Applied to Robotic Pouring
Dandan Zhang, Wen Fan, J. Lloyd, Chenguang Yang +1 more
2022IEEE Transactions on Automation Science and Engineering33 citations Open access
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BioTacTip: A Soft Biomimetic Optical Tactile Sensor for Efficient 3D Contact Localization and 3D Force Estimation
Hao-Ran Li, Saekwang Nam, Zhen-Yu Lu, Chenguang Yang +2 more
2024IEEE Robotics and Automation Letters32 citations Open access
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Visual-Tactile Robot Grasping Based on Human Skill Learning From Demonstrations Using a Wearable Parallel Hand Exoskeleton
Zhen-Yu Lu, Lu-Yi Chen, Hengtai Dai, Haoran Li +4 more
2023IEEE Robotics and Automation Letters29 citations Open access
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Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing
Max Yang, Yijiong Lin, Alex Church, J. Lloyd +3 more
2023IEEE Robotics and Automation Letters29 citations Open access
Semantic Scholar
The statistics of optimal decision making: Exploring the relationship between signal detection theory and sequential analysis
Thom Griffith, Sophie Baker, Nathan F. Lepora
2021Journal of Mathematical Psychology29 citations Open access
Semantic Scholar
Slip detection for grasp stabilisation with a multi-fingered tactile robot hand
J. James, Nathan F. Lepora
2020arXiv.org29 citations
Semantic Scholar
The future lies in a pair of tactile hands
Nathan F. Lepora
2024Science Robotics28 citations
Semantic Scholar
Artificial SA-I, RA-I and RA-II/vibrotactile afferents for tactile sensing of texture
Nicholas Pestell, Nathan F. Lepora
2022Journal of the Royal Society Interface28 citations Open access
Semantic Scholar
Walking on TacTip toes: A tactile sensing foot for walking robots
E. A. Stone, Nathan F. Lepora, D. Barton
2020IEEE/RJS International Conference on Intelligent RObots and Systems28 citations Open access
Semantic Scholar
A Sense of Touch for the Shadow Modular Grasper
Nicholas Pestell, Luke Cramphorn, F. Papadopoulos, Nathan F. Lepora
2019IEEE Robotics and Automation Letters28 citations Open access
Semantic Scholar
DexiTac: Soft Dexterous Tactile Gripping
Chenghua Lu, Kailuan Tang, Max Yang, Tian-Qi Yue +2 more
2024IEEE/ASME transactions on mechatronics27 citations Open access
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Dual-Modal Tactile Perception and Exploration
Nicholas Pestell, J. Lloyd, J. Rossiter, Nathan F. Lepora
2018IEEE Robotics and Automation Letters25 citations Open access
Semantic Scholar
TacMMs: Tactile Mobile Manipulators for Warehouse Automation
Zhuochao He, Xuyang Zhang, Simon Jones, S. Hauert +2 more
2023IEEE Robotics and Automation Letters22 citations Open access
Semantic Scholar
Artificial SA-I and RA-I afferents for tactile sensing of ridges and gratings
Nicholas Pestell, Thom Griffith, Nathan F. Lepora
2021Journal of the Royal Society Interface22 citations Open access
Semantic Scholar
A Robust Controller for Stable 3D Pinching Using Tactile Sensing
Efi Psomopoulou, Nicholas Pestell, F. Papadopoulos, J. Lloyd +2 more
2021IEEE Robotics and Automation Letters21 citations Open access
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Snap-it, Tap-it, Splat-it: Tactile-Informed 3D Gaussian Splatting for Reconstructing Challenging Surfaces
Mauro Comi, A. Tonioni, Jonathan Tremblay, Max Yang +4 more
2024International Conference on 3D Vision20 citations Open access
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A Biomimetic Tactile Fingerprint Induces Incipient Slip
J. James, S. Redmond, Nathan F. Lepora
2020IEEE/RJS International Conference on Intelligent RObots and Systems20 citations Open access
Semantic Scholar
Spatio-Temporal Encoding Improves Neuromorphic Tactile Texture Classification
A. Gupta, A. N. Silva, Nathan F. Lepora, N. Thakor
2020IEEE Sensors Journal20 citations Open access
Semantic Scholar
Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing
Wen Fan, Max Yang, Yifan Xing, Nathan F. Lepora +1 more
2023IEEE International Conference on Robotics and Automation19 citations
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Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks
Christopher J. Ford, Haoran Li, J. Lloyd, M. Catalano +3 more
2023IEEE International Conference on Robotics and Automation18 citations Open access
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Tactile SoftHand-A: 3D-printed, tactile, highly underactuated, anthropomorphic robot hand with an antagonistic tendon mechanism
Hao-Ran Li, Christopher J. Ford, Chenghua Lu, Yijiong Lin +4 more
2024Int. J. Robotics Res.17 citations Open access
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Graph Neural Networks for Interpretable Tactile Sensing
Wen Fan, Hongbo Bo, Yijiong Lin, Yifan Xing +3 more
2022International Conference on Automation and Computing17 citations Open access
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Neuromorphic Tactile Edge Orientation Classification in an Unsupervised Spiking Neural Network
Fraser L. A. Macdonald, Nathan F. Lepora, J. Conradt, B. Ward-Cherrier
2022Italian National Conference on Sensors17 citations Open access
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A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand
B. Ward-Cherrier, J. Conradt, M. Catalano, M. Bianchi +1 more
2020IEEE/RJS International Conference on Intelligent RObots and Systems17 citations Open access
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Tactile Robotics: Past and Future
Nathan F. Lepora
2025The international journal of robotics research15 citations
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