A spiking and adapting tactile sensor for neuromorphic applications

Neuromorphic Sensor Based on Force-Sensing Resistors

This work introduces a neuromorphic sensor (NS) based on force-sensing resistors (FSR) and spiking neurons for robotic systems. The proposed sensor integrates the FSR in the schematic of the spiking neuron in order to make the sensor generate spikes with a frequency that depends on the applied force. The performance of the proposed sensor is evaluated in the control of a SMA-actuated robotic finger by monitoring the force during a steady state when the finger pushes on a tweezer. For comparison purposes, we performed a similar evaluation when the SNN received input from a widely used compression load cell (CLC). The results show that the proposed FSR-based neuromorphic sensor has very good sensitivity to low forces and the function between the spiking rate and the applied force is continuous, with good variation range. However, when compared to the CLC, the response of the NS follows a logarithmic-like function with improved sensitivity for small forces. In addition, the power consumption of NS is 128 µW that is 270 times lower than that of the CLC which needs 3.5 mW to operate. These characteristics make the neuromorphic sensor with FSR suitable for bioinspired control of humanoid robotics, representing a low-power and low-cost alternative to the widely used sensors.

Low power nanoscale S-FED based single ended sense amplifier applied in integrate and fire neuron circuit

Current advancements in neuromorphic computing systems are focused on decreasing power consumption and enriching computational functions. Correspondingly, state-of-the-art system-on-chip developers are encouraged to design nanoscale devices with minimum power dissipation and high-speed operation. This paper deals with designing a sense amplifier based on side-contacted field-effect diodes to reduce the power-delay product (PDP) and the noise susceptibility, as critical factors in neuron circuits. Our findings reveal that both static and dynamic power consumption of the S-FED-based sense amplifier, equal to 1.86 μW and 1.92 fW/GHz, are × 243.03 and × 332.83 lower than those of the conventional CMOS counterpart, respectively. While the sense-amplifier circuit based on CMOS technology undergoes an output voltage deviation of 170.97 mV, the proposed S-FED-based one enjoys a minor output deviation of 27.31 mV. Meanwhile, the superior HIGH-level and LOW-level noise margins of the S-FED-based sense amplifier to the CMOS counterparts (∆NMH = 70 mV and ∆NML = 120 mV), respectively, can ensure the system-level operation stability of the former one. Subsequent to the attainment of an area-efficient, low-power, and high-speed S-FED-based sense amplifier (PDP = 187.75 × 10-18 W s) as a fundamental building block, devising an innovative integrate-and-fire neuron circuit based on S-FED paves the way to realize a new generation of neuromorphic architectures. To shed light on this context, an S-FED-based integrate-and-fire neuron circuit is designed and analyzed utilizing a sense amplifier and feedback loop to enhance spiking voltage and subsequent noise immunity in addition to an about fourfold increase in firing frequency compared to CMOS-based ones.

Strengthening Multi-Factor Authentication Through Physically Unclonable Functions in PVDF-HFP-Phase-Dependent a-IGZO Thin-Film Transistors

For enhanced security in hardware-based security devices, it is essential to extract various independent characteristics from a single device to generate multiple keys based on specific values. Additionally, the secure destruction of authentication information is crucial for the integrity of the data. Doped amorphous indium gallium zinc oxide (a-IGZO) thin-film transistors (TFTs) using poly(vinylidene fluoride-co-hexafluoropropylene) (PVDF-HFP) induce a dipole doping effect through a phase-transition process, creating physically unclonable function (PUF) devices for secure user information protection. The PUF security key, generated at VGS = 20 V in a 20 × 10 grid, demonstrates uniformity of 42% and inter-Hamming distance (inter-HD) of 49.79% in the β-phase of PVDF-HFP. However, in the γ-phase, the uniformity drops to 22.5%, and inter-HD decreases to 35.74%, indicating potential security key destruction during the phase transition. To enhance security, a multi-factor authentication (MFA) system is integrated, utilizing five security keys extracted from various TFT parameters. The security keys from turn-on voltage (VON), VGS = 20 V, VGS = 30 V, mobility, and threshold voltage (Vth) exhibit near-ideal uniformities and inter-HDs, with the highest values of 58% and 51.68%, respectively. The dual security system, combining phase transition and MFA, establishes a robust protection mechanism for privacy-sensitive user information.

Magnetic Flux Sensor Based on Spiking Neurons with Josephson Junctions

Josephson junctions (JJs) are superconductor-based devices used to build highly sensitive magnetic flux sensors called superconducting quantum interference devices (SQUIDs). These sensors may vary in design, being the radio frequency (RF) SQUID, direct current (DC) SQUID, and hybrid, such as D-SQUID. In addition, recently many of JJ's applications were found in spiking models of neurons exhibiting nearly biological behavior. In this study, we propose and investigate a new circuit model of a sensory neuron based on DC SQUID as part of the circuit. The dependence of the dynamics of the designed model on the external magnetic flux is demonstrated. The design of the circuit and derivation of the corresponding differential equations that describe the dynamics of the system are given. Numerical simulation is used for experimental evaluation. The experimental results confirm the applicability and good performance of the proposed magnetic-flux-sensitive neuron concept: the considered device can encode the magnetic flux in the form of neuronal dynamics with the linear section. Furthermore, some complex behavior was discovered in the model, namely the intermittent chaotic spiking and plateau bursting. The proposed design can be efficiently applied to developing the interfaces between circuitry and spiking neural networks. However, it should be noted that the proposed neuron design shares the main limitation of all the superconductor-based technologies, i.e., the need for a cryogenic and shielding system.

Recent Advances in Tactile Sensory Systems: Mechanisms, Fabrication, and Applications

Flexible electronics is a cutting-edge field that has paved the way for artificial tactile systems that mimic biological functions of sensing mechanical stimuli. These systems have an immense potential to enhance human-machine interactions (HMIs). However, tactile sensing still faces formidable challenges in delivering precise and nuanced feedback, such as achieving a high sensitivity to emulate human touch, coping with environmental variability, and devising algorithms that can effectively interpret tactile data for meaningful interactions in diverse contexts. In this review, we summarize the recent advances of tactile sensory systems, such as piezoresistive, capacitive, piezoelectric, and triboelectric tactile sensors. We also review the state-of-the-art fabrication techniques for artificial tactile sensors. Next, we focus on the potential applications of HMIs, such as intelligent robotics, wearable devices, prosthetics, and medical healthcare. Finally, we conclude with the challenges and future development trends of tactile sensors.

Neuromorphic hardware for somatosensory neuroprostheses

In individuals with sensory-motor impairments, missing limb functions can be restored using neuroprosthetic devices that directly interface with the nervous system. However, restoring the natural tactile experience through electrical neural stimulation requires complex encoding strategies. Indeed, they are presently limited in effectively conveying or restoring tactile sensations by bandwidth constraints. Neuromorphic technology, which mimics the natural behavior of neurons and synapses, holds promise for replicating the encoding of natural touch, potentially informing neurostimulation design. In this perspective, we propose that incorporating neuromorphic technologies into neuroprostheses could be an effective approach for developing more natural human-machine interfaces, potentially leading to advancements in device performance, acceptability, and embeddability. We also highlight ongoing challenges and the required actions to facilitate the future integration of these advanced technologies.

A Butterfly-Inspired Multisensory Neuromorphic Platform for Integration of Visual and Chemical Cues

Unisensory cues are often insufficient for animals to effectively engage in foraging, mating, and predatory activities. In contrast, integration of cues collected from multiple sensory organs enhances the overall perceptual experience and thereby facilitates better decision-making. Despite the importance of multisensory integration in animals, the field of artificial intelligence (AI) and neuromorphic computing has primarily focused on processing unisensory information. This lack of emphasis on multisensory integration can be attributed to the absence of a miniaturized hardware platform capable of co-locating multiple sensing modalities and enabling in-sensor and near-sensor processing. In this study, this limitation is addressed by utilizing the chemo-sensing properties of graphene and the photo-sensing capability of monolayer molybdenum disulfide (MoS2 ) to create a multisensory platform for visuochemical integration. Additionally, the in-memory-compute capability of MoS2 memtransistors is leveraged to develop neural circuits that facilitate multisensory decision-making. The visuochemical integration platform is inspired by intricate courtship of Heliconius butterflies, where female species rely on the integration of visual cues (such as wing color) and chemical cues (such as pheromones) generated by the male butterflies for mate selection. The butterfly-inspired visuochemical integration platform has significant implications in both robotics and the advancement of neuromorphic computing, going beyond unisensory intelligence and information processing.

Emerging Functional Polymer Composites for Tactile Sensing

In recent years, extensive research has been conducted on the development of high-performance flexible tactile sensors, pursuing the next generation of highly intelligent electronics with diverse potential applications in self-powered wearable sensors, human-machine interactions, electronic skin, and soft robotics. Among the most promising materials that have emerged in this context are functional polymer composites (FPCs), which exhibit exceptional mechanical and electrical properties, enabling them to be excellent candidates for tactile sensors. Herein, this review provides a comprehensive overview of recent advances in FPCs-based tactile sensors, including the fundamental principle, the necessary property parameter, the unique device structure, and the fabrication process of different types of tactile sensors. Examples of FPCs are elaborated with a focus on miniaturization, self-healing, self-cleaning, integration, biodegradation, and neural control. Furthermore, the applications of FPC-based tactile sensors in tactile perception, human-machine interaction, and healthcare are further described. Finally, the existing limitations and technical challenges for FPCs-based tactile sensors are briefly discussed, offering potential avenues for the development of electronic products.

Understanding the Origin of Tensile Response in a Graphene Textile Strain Sensor with Negative Differential Resistance

The flexible strain sensors based on the textile substrate have natural flexibility, high sensitivity, and wide-range tensile response. However, the textile's complex and anisotropic substructure leads to a negative differential resistance (NDR) response, lacking a deeper understanding of the mechanism. Therefore, we examined a graphene textile strain sensor with a conspicuous NDR tensile response, providing a requisite research platform for mechanism investigation. The pioneering measurement of single fiber bundles confirmed the existence of the NDR effect on the subgeometry scale. Based on the in situ characterization of tensile morphology and measurement, we conducted quantitative behavior analyses to reveal the origin of tensile electrical responses in the full range comprehensively. The results showed that the dominant factor in generating the NDR effect is the relative displacement of fibers within the textile bundles. Based on the neural spiking-like tensile response, we further demonstrated the application potential of the textile strain sensor in threshold detection and near-sensor signal processing. The proposed NDR behavior model would provide a reference for the design and application of wearable intelligent textiles.

Neuromorphic Tactile Edge Orientation Classification in an Unsupervised Spiking Neural Network

Dexterous manipulation in robotic hands relies on an accurate sense of artificial touch. Here we investigate neuromorphic tactile sensation with an event-based optical tactile sensor combined with spiking neural networks for edge orientation detection. The sensor incorporates an event-based vision system (mini-eDVS) into a low-form factor artificial fingertip (the NeuroTac). The processing of tactile information is performed through a Spiking Neural Network with unsupervised Spike-Timing-Dependent Plasticity (STDP) learning, and the resultant output is classified with a 3-nearest neighbours classifier. Edge orientations were classified in 10-degree increments while tapping vertically downward and sliding horizontally across the edge. In both cases, we demonstrate that the sensor is able to reliably detect edge orientation, and could lead to accurate, bio-inspired, tactile processing in robotics and prosthetics applications.

Neuro-inspired electronic skin for robots

Touch is a complex sensing modality owing to large number of receptors (mechano, thermal, pain) nonuniformly embedded in the soft skin all over the body. These receptors can gather and encode the large tactile data, allowing us to feel and perceive the real world. This efficient somatosensation far outperforms the touch-sensing capability of most of the state-of-the-art robots today and suggests the need for neural-like hardware for electronic skin (e-skin). This could be attained through either innovative schemes for developing distributed electronics or repurposing the neuromorphic circuits developed for other sensory modalities such as vision and audio. This Review highlights the hardware implementations of various computational building blocks for e-skin and the ways they can be integrated to potentially realize human skin-like or peripheral nervous system-like functionalities. The neural-like sensing and data processing are discussed along with various algorithms and hardware architectures. The integration of ultrathin neuromorphic chips for local computation and the printed electronics on soft substrate used for the development of e-skin over large areas are expected to advance robotic interaction as well as open new avenues for research in medical instrumentation, wearables, electronics, and neuroprosthetics.

Touch, Texture and Haptic Feedback: A Review on How We Feel the World around Us

Touch is one most of the important aspects of human life. Nearly all interactions, when broken down, involve touch in one form or another. Recent advances in technology, particularly in the field of virtual reality, have led to increasing interest in the research of haptics. However, accurately capturing touch is still one of most difficult engineering challenges currently being faced. Recent advances in technology such as those found in microcontrollers which allow the creation of smaller sensors and feedback devices may provide the solution. Beyond capturing and measuring touch, replicating touch is also another unique challenge due to the complexity and sensitivity of the human skin. The development of flexible, soft-wearable devices, however, has allowed for the creating of feedback systems that conform to the human form factor with minimal loss of accuracy, thus presenting possible solutions and opportunities. Thus, in this review, the researchers aim to showcase the technologies currently being used in haptic feedback, and their strengths and limitations.

A Biomimetic Circuit for Electronic Skin With Application in Hand Prosthesis

One major challenge in upper limb prostheses is providing sensory feedback to amputees. Reproducing the spiking patterns of human primary tactile afferents can be considered as the first step for this challenging problem. In this study, a novel biomimetic circuit for SA-I and RA-I afferents is proposed to functionally replicate the spiking response of the biological tactile afferents to indentation stimuli. The circuit has been designed, laid out, and simulated in TSMC 180nm CMOS technology with a 1.8V supply voltage. A pair of SA-I and RA-I afferent circuits consume [Formula: see text] of power. The occupied silicon area is [Formula: see text] for 32 afferents. To provide the inputs for circuit testing, a patch of skin with a grid of mechanoreceptors is simulated and tested by an edge stimulus presented at different orientations. Experimental data are collected using indentation of 3D-printed edges at different orientations on a tactile sensor mounted on a robotic arm. Inspired by innervation patterns observed in biology, the artificial afferents are connected to several neighboring mechanoreceptors with different weights to form complex receptive fields which cover the entire mechanoreceptor grid. Machine learning algorithms are applied offline to classify the edge orientations based on the pattern of neural responses. Our results show that the complex receptive fields arising from the innervation pattern led to smaller circuit area and lower power consumption, while facilitating data encoding from high-resolution sensors. The proposed biomimetic circuit and tactile encoding example demonstrate potential applications in modern tactile sensing modules for developing novel bio-robotic and prosthetic technologies.