SpikingTac: A Miniaturized Neuromorphic Visuotactile Sensor for High-Precision Dynamic Tactile Imprint Tracking

• URL: http://arxiv.org/abs/2602.23654v1
• Date: Fri, 27 Feb 2026 03:39:06 GMT
• Title: SpikingTac: A Miniaturized Neuromorphic Visuotactile Sensor for High-Precision Dynamic Tactile Imprint Tracking
• Abstract summary: SpikingTac is a highly integrated neuromorphic tactile sensor, achieved with a total material cost of less than $150.<n>We construct a global dynamic state map coupled with an unsupervised denoising network to enable precise tracking.<n>In dynamic tasks, SpikingTac limits the obstacle-avoidance overshoot to 6.2mm, representing a 5-fold performance improvement over conventional frame-based sensors.
• Score: 10.206129577114874
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: High-speed event-driven tactile sensors are essential for achieving human-like dynamic manipulation, yet their integration is often limited by the bulkiness of standard event cameras. This paper presents SpikingTac, a miniaturized, highly integrated neuromorphic tactile sensor featuring a custom standalone event camera module, achieved with a total material cost of less than \$150. We construct a global dynamic state map coupled with an unsupervised denoising network to enable precise tracking at a 1000~Hz perception rate and 350~Hz tracking frequency. Addressing the viscoelastic hysteresis of silicone elastomers, we propose a hysteresis-aware incremental update law with a spatial gain damping mechanism. Experimental results demonstrate exceptional zero-point stability, achieving a 100\% return-to-origin success rate with a minimal mean bias of 0.8039 pixels, even under extreme torsional deformations. In dynamic tasks, SpikingTac limits the obstacle-avoidance overshoot to 6.2~mm, representing a 5-fold performance improvement over conventional frame-based sensors. Furthermore, the sensor achieves sub-millimeter geometric accuracy, with Root Mean Square Error (RMSE) of 0.0952~mm in localization and 0.0452~mm in radius measurement.

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