Nathan F. Lepora

212 papers A* 14A 17B 1Misc 3Journal 133Unranked 37

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Omnidirectional Dual-Arm Aerial Manipulator with Proprioceptive Contact Localization for Landing on Slanted Roofs. CoRR Martijn B. J. Brummelhuis, Nathan F. Lepora, Salua Hamaza
2026	J	`jnl`	TacFinRay: Soft Tactile Fin-Ray Finger With Indirect Tactile Sensing for Robust Grasping. IEEE Robotics Autom. Lett. Saekwang Nam, Bowen Deng, Loong Yi Lee, Jonathan M. Rossiter, Nathan F. Lepora
2026	J	`jnl`	UniForce: A Unified Latent Force Model for Robot Manipulation with Diverse Tactile Sensors. CoRR Zhuo Chen, Fei Ni, Kaiyao Luo, Zhiyuan Wu, Xuyang Zhang, Emmanouil Spyrakos-Papastavridis, Lorenzo Jamone, Nathan F. Lepora, Jiankang Deng, Shan Luo
2025	J	`jnl`	A Neuromorphic Tactile System for Reliable Braille Reading in Noisy Environments. IEEE Robotics Autom. Lett. Xingchen Xu, Nathan F. Lepora, Benjamin Ward-Cherrier
2025	J	`jnl`	Classification of Vision-Based Tactile Sensors: A Review. CoRR Haoran Li, Yijiong Lin, Chenghua Lu, Max Yang, Efi Psomopoulou, Nathan F. Lepora
2025	J	`jnl`	Coarse-to-Fine Robotic Pushing Using Touch, Vision and Proprioception. IEEE Robotics Autom. Lett. Bowen Deng, Yijiong Lin, Max Yang, Nathan F. Lepora
2025	J	`jnl`	Data-Driven Compliance Discrimination via Biomimetic Soft Optical Tactile Sensors: Implementation and Benchmarking With a Model-Based Approach. IEEE Robotics Autom. Lett. Paolo Susini, Giulia Pagnanelli, Saekwang Nam, Nathan F. Lepora, Matteo Bianchi
2025	J	`jnl`	Decision Threshold Learning in the Basal Ganglia for Multiple Alternatives. Neural Comput. Thom Griffith, Sophie-Anne Baker, Nathan F. Lepora
2025	J	`jnl`	Design and Benchmarking of A Multi-Modality Sensor for Robotic Manipulation with GAN-Based Cross-Modality Interpretation. CoRR Dandan Zhang, Wen Fan, Jialin Lin, Haoran Li, Qingzheng Cong, Weiru Liu, Nathan F. Lepora, Shan Luo
2025	J	`jnl`	Design and Benchmarking of a Multimodality Sensor for Robotic Manipulation With GAN-Based Cross-Modality Interpretation. IEEE Trans. Robotics Dandan Zhang, Wen Fan, Jialin Lin, Haoran Li, Qingzheng Cong, Weiru Liu, Nathan F. Lepora, Shan Luo
2025	A	`conf`	Educational SoftHand-A: Building an Anthropomorphic Hand with Soft Synergies using LEGO IROS Jared K. Lepora, Haoran Li, Efi Psomopoulou, Nathan F. Lepora
2025	J	`jnl`	Educational SoftHand-A: Building an Anthropomorphic Hand with Soft Synergies using LEGO MINDSTORMS. CoRR Jared K. Lepora, Haoran Li, Efi Psomopoulou, Nathan F. Lepora
2025	—	`conf`	Enabling Intrinsic Tactile Sensing with Soft Optical Tactile Sensors. MED Leonardo Marcello, Giulia Pagnanelli, Nathan F. Lepora, Matteo Bianchi
2025	J	`jnl`	General Force Sensation for Tactile Robot. CoRR Zhuo Chen, Ni Ou, Xuyang Zhang, Zhiyuan Wu, Yongqiang Zhao, Yupeng Wang, Nathan F. Lepora, Lorenzo Jamone, Jiankang Deng, Shan Luo
2025	J	`jnl`	Guest EditorialSpecial Collection on Tactile Robotics. IEEE Trans. Robotics Mark Yim, Shan Luo, Nathan F. Lepora, Wenzhen Yuan, Kaspar Althoefer, Gordon Cheng, Julio Rogelio Guadarrama-Olvera, Ravinder Dahiya
2025	J	`jnl`	IQM-Vis: A user-centric python toolbox for visualising and evaluating image quality metrics. SoftwareX Matthew Clifford, Alexander Hepburn, Ricardo Kleinlein, Jorge Vila-Tomás, Pablo Hernández-Cámara, Paula Dauden, Nathan F. Lepora, Valero Laparra, Raúl Santos-Rodríguez
2025	J	`jnl`	Integrating Human-Like Impedance Regulation and Model-Based Approaches for Compliance Discrimination via Biomimetic Optical Tactile Sensors. IEEE Trans. Robotics Giulia Pagnanelli, Lucia Zinelli, Nathan F. Lepora, Manuel G. Catalano, Antonio Bicchi, Matteo Bianchi
2025	J	`jnl`	NeuralTouch: Neural Descriptors for Precise Sim-to-Real Tactile Robot Control. CoRR Yijiong Lin, Bowen Deng, Chenghua Lu, Max Yang, Efi Psomopoulou, Nathan F. Lepora
2025	J	`jnl`	Shear-Based Grasp Control for Multifingered Underactuated Tactile Robotic Hands. IEEE Trans. Robotics Christopher J. Ford, Haoran Li, Manuel G. Catalano, Matteo Bianchi, Efi Psomopoulou, Nathan F. Lepora
2025	J	`jnl`	Shear-based Grasp Control for Multi-fingered Underactuated Tactile Robotic Hands. CoRR Christopher J. Ford, Haoran Li, Manuel G. Catalano, Matteo Bianchi, Efi Psomopoulou, Nathan F. Lepora
2025	J	`jnl`	SimShear: Sim-to-Real Shear-based Tactile Servoing. CoRR Kipp McAdam Freud, Yijiong Lin, Nathan F. Lepora
2025	—	`conf`	Snap-it, Tap-it, Splat-it: Tactile-Informed 3D Gaussian Splatting for Reconstructing Challenging Surfaces. 3DV Mauro Comi, Alessio Tonioni, Jonathan Tremblay, Max Yang, Valts Blukis, Yijiong Lin, Nathan F. Lepora, Laurence Aitchison
2025	J	`jnl`	StereoTacTip: Vision-based Tactile Sensing with Biomimetic Skin-Marker Arrangements. CoRR Chenghua Lu, Kailuan Tang, Xueming Hui, Haoran Li, Saekwang Nam, Nathan F. Lepora
2025	J	`jnl`	TacFinRay: Soft Tactile Fin-Ray Finger with Indirect Tactile Sensing for Robust Grasping. CoRR Saekwang Nam, Bowen Deng, Loong Yi Lee, Jonathan M. Rossiter, Nathan F. Lepora
2025	J	`jnl`	Tactile Robotics: An Outlook. CoRR Shan Luo, Nathan F. Lepora, Wenzhen Yuan, Kaspar Althoefer, Gordon Cheng, Ravinder Dahiya
2025	J	`jnl`	Tactile Robotics: An Outlook. IEEE Trans. Robotics Shan Luo, Nathan F. Lepora, Wenzhen Yuan, Kaspar Althoefer, Gordon Cheng, Ravinder Dahiya
2025	J	`jnl`	Tactile Robotics: Past and Future. CoRR Nathan F. Lepora
2025	J	`jnl`	Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions. CoRR Harrison Field, Max Yang, Yijiong Lin, Efi Psomopoulou, David A. W. Barton, Nathan F. Lepora
2025	J	`jnl`	ViTacGen: Robotic Pushing With Vision-to-Touch Generation. IEEE Robotics Autom. Lett. Zhiyuan Wu, Yijiong Lin, Yongqiang Zhao, Xuyang Zhang, Zhuo Chen, Nathan F. Lepora, Shan Luo
2025	J	`jnl`	ViTacGen: Robotic Pushing with Vision-to-Touch Generation. CoRR Zhiyuan Wu, Yijiong Lin, Yongqiang Zhao, Xuyang Zhang, Zhuo Chen, Nathan F. Lepora, Shan Luo
2024	J	`jnl`	A Lightweight and Affordable Wearable Haptic Controller for Robot-Assisted Microsurgery. Sensors Xiaoqing Guo, Finn McFall, Peiyang Jiang, Jindong Liu, Nathan F. Lepora, Dandan Zhang
2024	Misc	`conf`	AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch. CoRL Max Yang, Chenghua Lu, Alex Church, Yijiong Lin, Christopher J. Ford, Haoran Li, Efi Psomopoulou, David A. W. Barton, Nathan F. Lepora
2024	J	`jnl`	AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch. CoRR Max Yang, Chenghua Lu, Alex Church, Yijiong Lin, Chris Ford, Haoran Li, Efi Psomopoulou, David A. W. Barton, Nathan F. Lepora
2024	J	`jnl`	BioTacTip: A Soft Biomimetic Optical Tactile Sensor for Efficient 3D Contact Localization and 3D Force Estimation. IEEE Robotics Autom. Lett. Haoran Li, Saekwang Nam, Zhenyu Lu, Chenguang Yang, Efi Psomopoulou, Nathan F. Lepora
2024	A	`conf`	BrainSLAM: SLAM on Neural Population Activity Data. AAMAS Kipp McAdam Freud, Nathan F. Lepora, Matt W. Jones, Cian O'Donnell
2024	J	`jnl`	BrainSLAM: SLAM on Neural Population Activity Data. CoRR Kipp McAdam Freud, Nathan F. Lepora, Matt W. Jones, Cian O'Donnell
2024	J	`jnl`	DexiTac: Soft Dexterous Tactile Gripping. CoRR Chenghua Lu, Kailuan Tang, Max Yang, Tianqi Yue, Nathan F. Lepora
2024	A	`conf`	Efficient Tactile Sensing-based Learning from Limited Real-world Demonstrations for Dual-arm Fine Pinch-Grasp Skills. IROS Xiaofeng Mao, Yucheng Xu, Ruoshi Wen, Mohammadreza Kasaei, Wanming Yu, Efi Psomopoulou, Nathan F. Lepora, Zhibin Li
2024	J	`jnl`	ManiSkill-ViTac 2025: Challenge on Manipulation Skill Learning With Vision and Tactile Sensing. CoRR Chuanyu Li, Renjun Dang, Xiang Li, Zhiyuan Wu, Jing Xu, Hamidreza Kasaei, Roberto Calandra, Nathan F. Lepora, Shan Luo, Hao Su, Rui Chen
2024	J	`jnl`	One-Shot Domain-Adaptive Imitation Learning via Progressive Learning Applied to Robotic Pouring. IEEE Trans Autom. Sci. Eng. Dandan Zhang, Wen Fan, John Lloyd, Chenguang Yang, Nathan F. Lepora
2024	J	`jnl`	Pose-and-shear-based tactile servoing. Int. J. Robotics Res. John Lloyd, Nathan F. Lepora
2024	J	`jnl`	Relating Human Error-Based Learning to Modern Deep RL Algorithms. Neural Comput. Michele Garibbo, Casimir J. H. Ludwig, Nathan F. Lepora, Laurence Aitchison
2024	—	`conf`	Self-Supervised Bayesian Visual Imitation Learning Applied to Robotic Pouring. ICIT Dandan Zhang, Yu Zheng, Wen Fan, Nathan F. Lepora, Zhengyou Zhang
2024	J	`jnl`	Snap-it, Tap-it, Splat-it: Tactile-Informed 3D Gaussian Splatting for Reconstructing Challenging Surfaces. CoRR Mauro Comi, Alessio Tonioni, Max Yang, Jonathan Tremblay, Valts Blukis, Yijiong Lin, Nathan F. Lepora, Laurence Aitchison
2024	—	`conf`	Softness Prediction with a Soft Biomimetic Optical Tactile Sensor. RoboSoft Saekwang Nam, Toby Jack, Loong Yi Lee, Nathan F. Lepora
2024	J	`jnl`	TacPalm: A Soft Gripper with a Biomimetic Optical Tactile Palm for Stable Precise Grasping. CoRR Xuyang Zhang, Tianqi Yang, Dandan Zhang, Nathan F. Lepora
2024	J	`jnl`	TacShade A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction. CoRR Zhenyu Lu, Jialong Yang, Haoran Li, Yifan Li, Weiyong Si, Nathan F. Lepora, Chenguang Yang
2024	A*	`conf`	TacShade: A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction. ICRA Zhenyu Lu, Jialong Yang, Haoran Li, Yifan Li, Weiyong Si, Nathan F. Lepora, Chenguang Yang
2024	J	`jnl`	Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism. CoRR Haoran Li, Christopher J. Ford, Chenghua Lu, Yijiong Lin, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, Nathan F. Lepora
2024	J	`jnl`	Tactile control for object tracking and dynamic contour following. Robotics Auton. Syst. Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora
2024	J	`jnl`	The future lies in a pair of tactile hands. Sci. Robotics Nathan F. Lepora
2024	J	`jnl`	TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction Using Vision-Based Tactile Sensing. IEEE Robotics Autom. Lett. Mauro Comi, Yijiong Lin, Alex Church, Alessio Tonioni, Laurence Aitchison, Nathan F. Lepora
2024	A*	`conf`	ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor. ICRA Wen Fan, Haoran Li, Weiyong Si, Shan Luo, Nathan F. Lepora, Dandan Zhang
2024	J	`jnl`	ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor. CoRR Wen Fan, Haoran Li, Weiyong Si, Shan Luo, Nathan F. Lepora, Dandan Zhang
2023	J	`jnl`	A pose and shear-based tactile robotic system for object tracking, surface following and object pushing. CoRR John Lloyd, Nathan F. Lepora
2023	J	`jnl`	An Overview of Robotic Grippers. CoRR Thomas J. Cairnes, Christopher J. Ford, Efi Psomopoulou, Nathan F. Lepora
2023	A	`conf`	Attention for Robot Touch: Tactile Saliency Prediction for Robust Sim-to-Real Tactile Control. IROS Yijiong Lin, Mauro Comi, Alex Church, Dandan Zhang, Nathan F. Lepora
2023	J	`jnl`	Attention of Robot Touch: Tactile Saliency Prediction for Robust Sim-to-Real Tactile Control. CoRR Yijiong Lin, Mauro Comi, Alex Church, Dandan Zhang, Nathan F. Lepora
2023	J	`jnl`	Bi-Touch: Bimanual Tactile Manipulation With Sim-to-Real Deep Reinforcement Learning. IEEE Robotics Autom. Lett. Yijiong Lin, Alex Church, Max Yang, Haoran Li, John Lloyd, Dandan Zhang, Nathan F. Lepora
2023	J	`jnl`	Bi-Touch: Bimanual Tactile Manipulation with Sim-to-Real Deep Reinforcement Learning. CoRR Yijiong Lin, Alex Church, Max Yang, Haoran Li, John Lloyd, Dandan Zhang, Nathan F. Lepora
2023	J	`jnl`	Digital Twin-Driven Mixed Reality Framework for Immersive Teleoperation With Haptic Rendering. IEEE Robotics Autom. Lett. Wen Fan, Xiaoqing Guo, Enyang Feng, Jialin Lin, Yuanyi Wang, Jiaming Liang, Martin Stephen Garrad, Jonathan Rossiter, Zhengyou Zhang, Nathan F. Lepora, Lei Wei, Dandan Zhang
2023	A	`conf`	Incipient Slip Detection with a Biomimetic Skin Morphology. IROS David Cordova Bulens, Nathan F. Lepora, Stephen J. Redmond, Benjamin Ward-Cherrier
2023	J	`jnl`	Learning Fine Pinch-Grasp Skills using Tactile Sensing from Real Demonstration Data. CoRR Xiaofeng Mao, Yucheng Xu, Ruoshi Wen, Mohammadreza Kasaei, Wanming Yu, Efi Psomopoulou, Nathan F. Lepora, Zhibin Li
2023	J	`jnl`	Model-Based Compliance Discrimination via Soft Tactile Optical Sensing and Optical Flow Computation: A Biomimetic Approach. IEEE Robotics Autom. Lett. Giulia Pagnanelli, Simone Ciotti, Nathan F. Lepora, Antonio Bicchi, Matteo Bianchi
2023	J	`jnl`	Pose and shear-based tactile servoing. CoRR John Lloyd, Nathan F. Lepora
2023	J	`jnl`	Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing. CoRR Max Yang, Yijiong Lin, Alex Church, John Lloyd, Dandan Zhang, David A. W. Barton, Nathan F. Lepora
2023	J	`jnl`	Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing. IEEE Robotics Autom. Lett. Max Yang, Yijiong Lin, Alex Church, John Lloyd, Dandan Zhang, David A. W. Barton, Nathan F. Lepora
2023	A*	`conf`	Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing. ICRA Wen Fan, Max Yang, Yifan Xing, Nathan F. Lepora, Dandan Zhang
2023	J	`jnl`	Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing. CoRR Wen Fan, Max Yang, Yifan Xing, Nathan F. Lepora, Dandan Zhang
2023	J	`jnl`	TacMMs: Tactile Mobile Manipulators for Warehouse Automation. CoRR Zhuochao He, Xuyang Zhang, Simon Jones, Sabine Hauert, Dandan Zhang, Nathan F. Lepora
2023	J	`jnl`	TacMMs: Tactile Mobile Manipulators for Warehouse Automation. IEEE Robotics Autom. Lett. Zhuochao He, Xuyang Zhang, Simon Jones, Sabine Hauert, Dandan Zhang, Nathan F. Lepora
2023	A*	`conf`	Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks. ICRA Christopher J. Ford, Haoran Li, John Lloyd, Manuel G. Catalano, Matteo Bianchi, Efi Psomopoulou, Nathan F. Lepora
2023	J	`jnl`	Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks. CoRR Christopher J. Ford, Haoran Li, John Lloyd, Manuel G. Catalano, Matteo Bianchi, Efi Psomopoulou, Nathan F. Lepora
2023	J	`jnl`	TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction using Vision-Based Tactile Sensing. CoRR Mauro Comi, Yijiong Lin, Alex Church, Alessio Tonioni, Laurence Aitchison, Nathan F. Lepora
2023	J	`jnl`	Visual-Tactile Robot Grasping Based on Human Skill Learning From Demonstrations Using a Wearable Parallel Hand Exoskeleton. IEEE Robotics Autom. Lett. Zhenyu Lu, Lu Chen, Hengtai Dai, Haoran Li, Zhou Zhao, Bofang Zheng, Nathan F. Lepora, Chenguang Yang
2022	—	`conf`	Active Inference for Artificial Touch: A Biologically-Plausible Tactile Control Method. Living Machines Pernilla Craig, Laurence Aitchison, Nathan F. Lepora
2022	J	`jnl`	Artificial SA-I, RA-I and RA-II/Vibrotactile Afferents for Tactile Sensing of Texture. CoRR Nicholas Pestell, Nathan F. Lepora
2022	J	`jnl`	BRL/Pisa/IIT SoftHand: A Low-Cost, 3D-Printed, Underactuated, Tendon-Driven Hand With Soft and Adaptive Synergies. IEEE Robotics Autom. Lett. Haoran Li, Christopher J. Ford, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, Nathan F. Lepora
2022	J	`jnl`	BRL/Pisa/IIT SoftHand: A Low-cost, 3D-Printed, Underactuated, Tendon-Driven Hand with Soft and Adaptive Synergies. CoRR Haoran Li, Christopher J. Ford, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, Nathan F. Lepora
2022	J	`jnl`	Biomimetic Perception, Cognition, and Control: From Nature to Robots [From the Guest Editors]. IEEE Robotics Autom. Mag. Chenguang Yang, Shan Luo, Nathan F. Lepora, Fanny Ficuciello, Dongheui Lee, Weiwei Wan, Chun-Yi Su
2022	J	`jnl`	DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch. CoRR Nathan F. Lepora, Yijiong Lin, Ben Money-Coomes, John Lloyd
2022	J	`jnl`	DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch. IEEE Robotics Autom. Lett. Nathan F. Lepora, Yijiong Lin, Ben Money-Coomes, John Lloyd
2022	J	`jnl`	Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback. IEEE Trans. Robotics John Lloyd, Nathan F. Lepora
2022	—	`conf`	Graph Neural Networks for Interpretable Tactile Sensing. ICAC Wen Fan, Hongbo Bo, Yijiong Lin, Yifan Xing, Weiru Liu, Nathan F. Lepora, Dandan Zhang
2022	J	`jnl`	Mapping Mid-Air Haptics With a Low-Cost Tactile Robot. IEEE Robotics Autom. Lett. Noor Alakhawand, William Frier, Nathan F. Lepora
2022	J	`jnl`	Mapping Mid-air Haptics with a Low-cost Tactile Robot. CoRR Noor Alakhawand, William Frier, Nathan F. Lepora
2022	J	`jnl`	Neuromorphic Tactile Edge Orientation Classification in an Unsupervised Spiking Neural Network. Sensors Fraser L. A. Macdonald, Nathan F. Lepora, Jörg Conradt, Benjamin Ward-Cherrier
2022	J	`jnl`	One-Shot Domain-Adaptive Imitation Learning via Progressive Learning. CoRR Dandan Zhang, Wen Fan, John Lloyd, Chenguang Yang, Nathan F. Lepora
2022	A	`conf`	Semi-Supervised Disentanglement of Tactile Contact Geometry from Sliding-Induced Shear. IROS Anupam K. Gupta, Alex Church, Nathan F. Lepora
2022	J	`jnl`	Semi-Supervised Disentanglement of Tactile Contact~Geometry from Sliding-Induced Shear. CoRR Anupam K. Gupta, Alex Church, Nathan F. Lepora
2022	J	`jnl`	Tactile Gym 2.0: Sim-to-Real Deep Reinforcement Learning for Comparing Low-Cost High-Resolution Robot Touch. IEEE Robotics Autom. Lett. Yijiong Lin, John Lloyd, Alex Church, Nathan F. Lepora
2022	J	`jnl`	Tactile Gym 2.0: Sim-to-real Deep Reinforcement Learning for Comparing Low-cost High-Resolution Robot Touch. CoRR Yijiong Lin, John Lloyd, Alex Church, Nathan F. Lepora
2022	J	`jnl`	What deep reinforcement learning tells us about human motor learning and vice-versa. CoRR Michele Garibbo, Casimir J. H. Ludwig, Nathan F. Lepora, Laurence Aitchison
2021	J	`jnl`	A Robust Controller for Stable 3D Pinching Using Tactile Sensing. IEEE Robotics Autom. Lett. Efi Psomopoulou, Nicholas Pestell, Fotios Papadopoulos, John Lloyd, Zoe Doulgeri, Nathan F. Lepora
2021	J	`jnl`	A Robust Controller for Stable 3D Pinching using Tactile Sensing. CoRR Efi Psomopoulou, Nicholas Pestell, Fotios Papadopoulos, John Lloyd, Zoe Doulgeri, Nathan F. Lepora
2021	J	`jnl`	Artificial SA-I and RA-I Afferentsfor Tactile Sensing of Ridges and Gratings. CoRR Nicholas Pestell, Thom Griffith, Nathan F. Lepora
2021	J	`jnl`	Editorial: ViTac: Integrating Vision and Touch for Multimodal and Cross-Modal Perception. Frontiers Robotics AI Shan Luo, Nathan F. Lepora, Uriel Martinez-Hernandez, João Bimbo, Huaping Liu
2021	J	`jnl`	Learning offline: memory replay in biological and artificial reinforcement learning. CoRR Emma L. Roscow, Raymond Chua, Rui Ponte Costa, Matt W. Jones, Nathan F. Lepora
2021	J	`jnl`	Optical Tactile Sim-to-Real Policy Transfer via Real-to-Sim Tactile Image Translation. CoRR Alex Church, John Lloyd, Raia Hadsell, Nathan F. Lepora
2021	J	`jnl`	Pose-Based Tactile Servoing: Controlled Soft Touch Using Deep Learning. IEEE Robotics Autom. Mag. Nathan F. Lepora, John Lloyd
2021	J	`jnl`	Probabilistic Discriminative Models Address the Tactile Perceptual Aliasing Problem. CoRR John Lloyd, Yijiong Lin, Nathan F. Lepora
2021	—	`conf`	Probabilistic Discriminative Models address the Tactile Perceptual Aliasing Problem. Robotics: Science and Systems John Lloyd, Yijiong Lin, Nathan F. Lepora
2021	J	`jnl`	Slip Detection for Grasp Stabilization With a Multifingered Tactile Robot Hand. IEEE Trans. Robotics Jasper Wollaston James, Nathan F. Lepora
2021	J	`jnl`	Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review. CoRR Nathan F. Lepora
2021	—	`conf`	Species-specific whisker morphology affects tactile interactions. WHC Robyn A. Grant, Gary Dougill, Nathan F. Lepora
2021	Misc	`conf`	Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear. CoRL Anupam K. Gupta, Laurence Aitchison, Nathan F. Lepora
2021	J	`jnl`	Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear. CoRR Anupam K. Gupta, Laurence Aitchison, Nathan F. Lepora
2021	Misc	`conf`	Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation. CoRL Alex Church, John Lloyd, Raia Hadsell, Nathan F. Lepora
2021	A*	`conf`	Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands. ICRA Nathan F. Lepora, Chris Ford, Andrew Stinchcombe, Alfred Brown, John Lloyd, Manuel G. Catalano, Matteo Bianchi, Benjamin Ward-Cherrier
2021	J	`jnl`	Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands. CoRR Nathan F. Lepora, Andrew Stinchcombe, Chris Ford, Alfred Brown, John Lloyd, Manuel G. Catalano, Matteo Bianchi, Benjamin Ward-Cherrier
2021	A*	`conf`	Uncertainty-aware deep learning for robot touch: Application to Bayesian tactile servo control. ICRA Manuel Floriano Vázquez, Nathan F. Lepora
2021	J	`jnl`	Uncertainty-aware deep learning for robot touch: Application to Bayesian tactile servo control. CoRR Manuel Floriano Vázquez, Nathan F. Lepora
2020	A	`conf`	A Biomimetic Tactile Fingerprint Induces Incipient Slip. IROS Jasper Wollaston James, Stephen J. Redmond, Nathan F. Lepora
2020	J	`jnl`	A Biomimetic Tactile Fingerprint Induces Incipient Slip. CoRR Jasper Wollaston James, Stephen J. Redmond, Nathan F. Lepora
2020	A	`conf`	A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand. IROS Benjamin Ward-Cherrier, Jörg Conradt, Manuel G. Catalano, Matteo Bianchi, Nathan F. Lepora
2020	J	`jnl`	Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard. CoRR Alex Church, John Lloyd, Raia Hadsell, Nathan F. Lepora
2020	J	`jnl`	Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard. IEEE Robotics Autom. Lett. Alex Church, John Lloyd, Raia Hadsell, Nathan F. Lepora
2020	J	`jnl`	Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback. CoRR John Lloyd, Nathan F. Lepora
2020	A	`conf`	Learning to Live Life on the Edge: Online Learning for Data-Efficient Tactile Contour Following. IROS Elizabeth A. Stone, Nathan F. Lepora, David A. W. Barton
2020	A*	`conf`	NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition. ICRA Benjamin Ward-Cherrier, Nicholas Pestell, Nathan F. Lepora
2020	J	`jnl`	NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition. CoRR Benjamin Ward-Cherrier, Nicholas Pestell, Nathan F. Lepora
2020	J	`jnl`	Optimal Deep Learning for Robot Touch. CoRR Nathan F. Lepora, John Lloyd
2020	J	`jnl`	Optimal Deep Learning for Robot Touch: Training Accurate Pose Models of 3D Surfaces and Edges. IEEE Robotics Autom. Mag. Nathan F. Lepora, John Lloyd
2020	J	`jnl`	Pose-Based Servo Control with Soft Tactile Sensing. CoRR Nathan F. Lepora, John Lloyd
2020	—	`conf`	Sensing Ultrasonic Mid-Air Haptics with a Biomimetic Tactile Fingertip. EuroHaptics Noor Alakhawand, William Frier, Kipp McAdam Freud, Orestis Georgiou, Nathan F. Lepora
2020	A*	`conf`	Sim-to-Real Transfer for Optical Tactile Sensing. ICRA Zihan Ding, Nathan F. Lepora, Edward Johns
2020	J	`jnl`	Sim-to-Real Transfer for Optical Tactile Sensing. CoRR Zihan Ding, Nathan F. Lepora, Edward Johns
2020	J	`jnl`	Slip detection for grasp stabilisation with a multi-fingered tactile robot hand. CoRR Jasper Wollaston James, Nathan F. Lepora
2020	J	`jnl`	Spatio-temporal encoding improves neuromorphic tactile texture classification. CoRR Anupam K. Gupta, Andrei Nakagawa Silva, Nathan F. Lepora, Nitish V. Thakor
2020	A	`conf`	Walking on TacTip toes: A tactile sensing foot for walking robots. IROS Elizabeth A. Stone, Nathan F. Lepora, David A. W. Barton
2020	J	`jnl`	Walking on TacTip toes: A tactile sensing foot for walking robots. CoRR Elizabeth A. Stone, Nathan F. Lepora, David A. W. Barton
2019	J	`jnl`	A Sense of Touch for the Shadow Modular Grasper. IEEE Robotics Autom. Lett. Nicholas Pestell, Luke Cramphorn, Fotios Papadopoulos, Nathan F. Lepora
2019	J	`jnl`	Convolutional Autoencoder for Feature Extraction in Tactile Sensing. IEEE Robotics Autom. Lett. Marsela Polic, Ivona Krajacic, Nathan F. Lepora, Matko Orsag
2019	J	`jnl`	From Pixels to Percepts: Highly Robust Edge Perception and Contour Following Using Deep Learning and an Optical Biomimetic Tactile Sensor. IEEE Robotics Autom. Lett. Nathan F. Lepora, Alex Church, Conrad De Kerckhove, Raia Hadsell, John Lloyd
2019	J	`jnl`	Guest Editorial Special Issue on Active Perception for Industrial Intelligence. IEEE Trans Autom. Sci. Eng. Huaping Liu, Nathan F. Lepora, Andrea Cherubini
2019	J	`jnl`	Learning to Live Life on the Edge: Online Learning for Data-Efficient Tactile Contour Following. CoRR Elizabeth A. Stone, Nathan F. Lepora, David A. W. Barton
2019	A*	`conf`	Shear-invariant Sliding Contact Perception with a Soft Tactile Sensor. ICRA Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora
2019	J	`jnl`	Shear-invariant Sliding Contact Perception with a Soft Tactile Sensor. CoRR Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora
2019	J	`jnl`	Tactile Model O: Fabrication and testing of a 3d-printed, three-fingered tactile robot hand. CoRR Alex Church, Jasper Wollaston James, Luke Cramphorn, Nathan F. Lepora
2018	—	`conf`	Active Touch with a Biomimetic 3D-Printed Whiskered Robot. Living Machines Nathan F. Lepora, Niels Burnus, Yilin Tao, Luke Cramphorn
2018	—	`ed.`	Biomimetic and Biohybrid Systems - 7th International Conference, Living Machines 2018, Paris, France, July 17-20, 2018, Proceedings Living Machines Vasiliki Vouloutsi, José Halloy, Anna Mura, Michael Mangan, Nathan F. Lepora, Tony J. Prescott, Paul F. M. J. Verschure
2018	J	`jnl`	Dual-Modal Tactile Perception and Exploration. IEEE Robotics Autom. Lett. Nicholas Pestell, John Lloyd, Jonathan Rossiter, Nathan F. Lepora
2018	J	`jnl`	From pixels to percepts: Highly robust edge perception and contour following using deep learning and an optical biomimetic tactile sensor. CoRR Nathan F. Lepora, Alex Church, Conrad De Kerckhove, Raia Hadsell, John Lloyd
2018	—	`conf`	MultiTip: A multimodal mechano-thermal soft fingertip. RoboSoft Gabor Soter, Andrew T. Conn, Helmut Hauser, Nathan F. Lepora, Jonathan Rossiter
2018	A*	`conf`	Principal Components of Touch. ICRA Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora
2018	J	`jnl`	Principal Components of Touch. CoRR Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora
2018	J	`jnl`	Slip Detection With a Biomimetic Tactile Sensor. IEEE Robotics Autom. Lett. Jasper Wollaston James, Nicholas Pestell, Nathan F. Lepora
2018	—	`conf`	Slip Detection on Natural Objects with a Biomimetic Tactile Sensor. Living Machines Jasper Wollaston James, Nathan F. Lepora
2018	A	`conf`	TacWhiskers: Biomimetic Optical Tactile Whiskered Robots. IROS Nathan F. Lepora, Martin J. Pearson, Luke Cramphorn
2018	J	`jnl`	TacWhiskers: Biomimetic optical tactile whiskered robots. CoRR Nathan F. Lepora, Martin J. Pearson, Luke Cramphorn
2018	—	`conf`	Texture Perception with a Biomimetic Optical Tactile Sensor. Living Machines Nicholas Pestell, Nathan F. Lepora
2018	A*	`conf`	Voronoi Features for Tactile Sensing: Direct Inference of Pressure, Shear, and Contact Locations. ICRA Luke Cramphorn, John Lloyd, Nathan F. Lepora
2018	J	`jnl`	Voronoi Features for Tactile Sensing: Direct Inference of Pressure, Shear, and Contact Locations. CoRR Luke Cramphorn, John Lloyd, Nathan F. Lepora
2017	J	`jnl`	Active sensorimotor control for tactile exploration. Robotics Auton. Syst. Uriel Martinez-Hernandez, Tony J. Dodd, Mathew H. Evans, Tony J. Prescott, Nathan F. Lepora
2017	J	`jnl`	Addition of a Biomimetic Fingerprint on an Artificial Fingertip Enhances Tactile Spatial Acuity. IEEE Robotics Autom. Lett. Luke Cramphorn, Benjamin Ward-Cherrier, Nathan F. Lepora
2017	—	`ed.`	Biomimetic and Biohybrid Systems - 6th International Conference, Living Machines 2017, Stanford, CA, USA, July 26-28, 2017, Proceedings Living Machines Michael Mangan, Mark R. Cutkosky, Anna Mura, Paul F. M. J. Verschure, Tony J. Prescott, Nathan F. Lepora
2017	J	`jnl`	Exploiting Sensor Symmetry for Generalized Tactile Perception in Biomimetic Touch. IEEE Robotics Autom. Lett. Benjamin Ward-Cherrier, Luke Cramphorn, Nathan F. Lepora
2017	J	`jnl`	Exploratory Tactile Servoing With Active Touch. IEEE Robotics Autom. Lett. Nathan F. Lepora, Kirsty Aquilina, Luke Cramphorn
2017	J	`jnl`	Model-Free Precise in-Hand Manipulation with a 3D-Printed Tactile Gripper. IEEE Robotics Autom. Lett. Benjamin Ward-Cherrier, Nicolás Rojas, Nathan F. Lepora
2017	A	`conf`	Object exploration using vision and active touch. IROS Chuanyu Yang, Nathan F. Lepora
2016	—	`conf`	A Biomimetic Fingerprint Improves Spatial Tactile Perception. Living Machines Luke Cramphorn, Benjamin Ward-Cherrier, Nathan F. Lepora
2016	J	`jnl`	Biology to Technology in Active Touch Sensing - Introduction to the Special Section. IEEE Trans. Haptics Yon Visell, Nathan F. Lepora, Mitra J. Z. Hartmann, Vincent Hayward
2016	J	`jnl`	Biomimetic Active Touch with Fingertips and Whiskers. IEEE Trans. Haptics Nathan F. Lepora
2016	—	`ed.`	Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Edinburgh, UK, July 19-22, 2016. Proceedings Living Machines Nathan F. Lepora, Anna Mura, Michael Mangan, Paul F. M. J. Verschure, Marc P. Y. Desmulliez, Tony J. Prescott
2016	—	`conf`	Discrimination-Based Perception for Robot Touch. Living Machines Emma Roscow, Christopher Kent, Ute Leonards, Nathan F. Lepora
2016	—	`conf`	Exploiting Symmetry to Generalize Biomimetic Touch. Living Machines Benjamin Ward-Cherrier, Luke Cramphorn, Nathan F. Lepora
2016	—	`conf`	Force Sensing with a Biomimetic Fingertip. Living Machines Maria Elena Giannaccini, Stuart Whyle, Nathan F. Lepora
2016	—	`conf`	Gaussian Process Regression for a Biomimetic Tactile Sensor. Living Machines Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora
2016	—	`conf`	Tactile Exploration by Contour Following Using a Biomimetic Fingertip. Living Machines Nicholas Pestell, Benjamin Ward-Cherrier, Luke Cramphorn, Nathan F. Lepora
2016	J	`jnl`	Tactile Manipulation With a TacThumb Integrated on the Open-Hand M2 Gripper. IEEE Robotics Autom. Lett. Benjamin Ward-Cherrier, Luke Cramphorn, Nathan F. Lepora
2016	J	`jnl`	Tactile Quality Control With Biomimetic Active Touch. IEEE Robotics Autom. Lett. Nathan F. Lepora, Benjamin Ward-Cherrier
2016	A*	`conf`	Tactile manipulation with biomimetic active touch. ICRA Luke Cramphorn, Benjamin Ward-Cherrier, Nathan F. Lepora
2016	—	`conf`	Threshold Learning for Optimal Decision Making. NIPS Nathan F. Lepora
2015	—	`conf`	Active Control for Object Perception and Exploration with a Robotic Hand. Living Machines Uriel Martinez-Hernandez, Nathan F. Lepora, Tony J. Prescott
2015	—	`conf`	Active haptic shape recognition by intrinsic motivation with a robot hand. World Haptics Uriel Martinez-Hernandez, Nathan F. Lepora, Tony J. Prescott
2015	J	`jnl`	Active tactile perception. Scholarpedia Nathan F. Lepora
2015	J	`jnl`	Embodied Choice: How Action Influences Perceptual Decision Making. PLoS Comput. Biol. Nathan F. Lepora, Giovanni Pezzulo
2015	A	`conf`	Superresolution with an optical tactile sensor. IROS Nathan F. Lepora, Benjamin Ward-Cherrier
2015	J	`jnl`	Tactile Superresolution and Biomimetic Hyperacuity. IEEE Trans. Robotics Nathan F. Lepora, Uriel Martinez-Hernandez, Mathew H. Evans, Lorenzo Natale, Giorgio Metta, Tony J. Prescott
2014	—	`ed.`	Biomimetic and Biohybrid Systems - Third International Conference, Living Machines 2014, Milan, Italy, July 30 - August 1, 2014. Proceedings Living Machines Armin Duff, Nathan F. Lepora, Anna Mura, Tony J. Prescott, Paul F. M. J. Verschure
2013	—	`conf`	A SOLID Case for Active Bayesian Perception in Robot Touch. Living Machines Nathan F. Lepora, Uriel Martinez-Hernandez, Tony J. Prescott
2013	—	`ch.`	Action Discovery and Intrinsic Motivation: A Biologically Constrained Formalisation. Intrinsically Motivated Learning in Natural and Artificial Systems Kevin N. Gurney, Nathan F. Lepora, Ashvin Shah, Ansgar Koene, Peter Redgrave
2013	—	`conf`	Active Bayesian Perception for Simultaneous Object Localization and Identification. Robotics: Science and Systems Nathan F. Lepora, Uriel Martinez-Hernandez, Tony J. Prescott
2013	A	`conf`	Active Bayesian perception and reinforcement learning. IROS Nathan F. Lepora, Uriel Martinez-Hernandez, Giovanni Pezzulo, Tony J. Prescott
2013	A	`conf`	Active Bayesian perception for angle and position discrimination with a biomimetic fingertip. IROS Uriel Martinez-Hernandez, Tony J. Dodd, Tony J. Prescott, Nathan F. Lepora
2013	—	`conf`	Active contour following to explore object shape with robot touch. World Haptics Uriel Martinez-Hernandez, Giorgio Metta, Tony J. Dodd, Tony J. Prescott, Lorenzo Natale, Nathan F. Lepora
2013	A*	`conf`	Active touch for robust perception under position uncertainty. ICRA Nathan F. Lepora, Uriel Martinez-Hernandez, Tony J. Prescott
2013	—	`conf`	Angle and Position Perception for Exploration with Active Touch. Living Machines Uriel Martinez-Hernandez, Tony J. Dodd, Tony J. Prescott, Nathan F. Lepora
2013	—	`ed.`	Biomimetic and Biohybrid Systems - Second International Conference, Living Machines 2013, London, UK, July 29 - August 2, 2013. Proceedings Living Machines Nathan F. Lepora, Anna Mura, Holger G. Krapp, Paul F. M. J. Verschure, Tony J. Prescott
2013	—	`conf`	Cerebellum-based adaptation for fine haptic control over the space of uncertain surfaces. World Haptics Hector Barron-Gonzalez, John Porrill, Nathan F. Lepora, Eris Chinellato, Giorgio Metta, Tony J. Prescott
2013	—	`conf`	Towards a Roadmap for Living Machines. Living Machines Nathan F. Lepora, Paul F. M. J. Verschure, Tony J. Prescott
2012	—	`ed.`	Biomimetic and Biohybrid Systems - First International Conference, Living Machines 2012, Barcelona, Spain, July 9-12, 2012. Proceedings Living Machines Tony J. Prescott, Nathan F. Lepora, Anna Mura, Paul F. M. J. Verschure
2012	A*	`conf`	Brain-inspired Bayesian perception for biomimetic robot touch. ICRA Nathan F. Lepora, J. Charlie Sullivan, Benjamin Mitchinson, Martin J. Pearson, Kevin N. Gurney, Tony J. Prescott
2012	J	`jnl`	Efficient fitting of conductance-based model neurons from somatic current clamp. J. Comput. Neurosci. Nathan F. Lepora, Paul G. Overton, Kevin N. Gurney
2012	A	`conf`	Embodied hyperacuity from Bayesian perception: Shape and position discrimination with an iCub fingertip sensor. IROS Nathan F. Lepora, Uriel Martinez-Hernandez, Hector Barron-Gonzalez, Mathew H. Evans, Giorgio Metta, Tony J. Prescott
2012	—	`conf`	Texture Classification through Tactile Sensing. Living Machines Uriel Martinez-Hernandez, Hector Barron-Gonzalez, Mathew H. Evans, Nathan F. Lepora, Tony J. Dodd, Tony J. Prescott
2012	J	`jnl`	The Basal Ganglia Optimize Decision Making over General Perceptual Hypotheses. Neural Comput. Nathan F. Lepora, Kevin N. Gurney
2012	—	`conf`	The State-of-the-Art in Biomimetics. Living Machines Nathan F. Lepora, Paul F. M. J. Verschure, Tony J. Prescott
2012	J	`jnl`	The effect of whisker movement on radial distance estimation: a case study in comparative robotics. Frontiers Neurorobotics Mathew H. Evans, Charles W. Fox, Nathan F. Lepora, Martin J. Pearson, J. Charles Sullivan, Tony J. Prescott
2012	—	`conf`	Towards Contour Following Exploration Based on Tactile Sensing with the iCub Fingertip. TAROS Uriel Martinez-Hernandez, Nathan F. Lepora, Hector Barron-Gonzalez, Tony J. Dodd, Tony J. Prescott
2012	—	`conf`	Towards a Framework for Tactile Perception in Social Robotics. Living Machines Hector Barron-Gonzalez, Nathan F. Lepora, Uriel Martinez-Hernandez, Mathew H. Evans, Tony J. Prescott
2012	A	`conf`	Whiskered texture classification with uncertain contact pose geometry. IROS Mathew H. Evans, Martin J. Pearson, Nathan F. Lepora, Tony J. Prescott, Charles W. Fox
2011	—	`conf`	A General Classifier of Whisker Data Using Stationary Naive Bayes: Application to BIOTACT Robots. TAROS 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
2011	—	`conf`	CrunchBot: A Mobile Whiskered Robot Platform. TAROS Charles W. Fox, Mathew H. Evans, Nathan F. Lepora, Martin J. Pearson, Andy Ham, Tony J. Prescott
2011	—	`conf`	Sensing with Artificial Tactile Sensors: An Investigation of Spatio-temporal Inference. TAROS Asma Motiwala, Charles W. Fox, Nathan F. Lepora, Tony J. Prescott
2010	—	`conf`	Naive Bayes novelty detection for a moving robot with whiskers. ROBIO Nathan F. Lepora, Martin J. Pearson, Benjamin Mitchinson, Mathew H. Evans, Charles W. Fox, Anthony G. Pipe, Kevin N. Gurney, Tony J. Prescott
2010	B	`conf`	Naive Bayes texture classification applied to whisker data from a moving robot. IJCNN Nathan F. Lepora, Mathew H. Evans, Charles W. Fox, Mathew E. Diamond, Kevin N. Gurney, Tony J. Prescott
2010	J	`jnl`	Nonlinear Dynamic Modeling of Isometric Force Production in Primate Eye Muscle. IEEE Trans. Biomed. Eng. Sean R. Anderson, Nathan F. Lepora, John Porrill, Paul Dean
2010	J	`jnl`	Sensory Prediction or Motor Control? Application of Marr-Albus Type Models of Cerebellar Function to Classical Conditioning. Frontiers Comput. Neurosci. Nathan F. Lepora, John Porrill, Christopher H. Yeo, Paul Dean
2010	—	`conf`	Whisker-object contact speed affects radial distance estimation. ROBIO Mathew H. Evans, Charles W. Fox, Martin J. Pearson, Nathan F. Lepora, Tony J. Prescott
2009	J	`jnl`	Capturing dopaminergic modulation and bimodal membrane behaviour of striatal medium spiny neurons in accurate, reduced models. Frontiers Comput. Neurosci. Mark D. Humphries, Nathan F. Lepora, Ric Wood, Kevin N. Gurney
2007	J	`jnl`	Response linearity determined by recruitment strategy in detailed model of nictitating membrane control. Biol. Cybern. Eirini Mavritsaki, Nathan F. Lepora, John Porrill, Christopher H. Yeo, Paul Dean