Peter Ballentine — accepted AI-conference papers

2026

SpikeATac: A Multimodal Tactile Finger with Taxelized Dynamic Sensing for Dexterous Manipulation

Eric T. Chang, Peter Ballentine, Zhanpeng He, DoGon Kim, Kai Jiang, Hua Hsuan Liang +5

ICRA 2026poster

In this work, we introduce SpikeATac, a multimodal tactile finger combining a taxelized and highly sensitive dynamic response (PVDF) with a static transduction method (capacitive) for multimodal touch sensing. Named for its `spiky' response, SpikeATac's 16-taxel PVDF film sampled at 4 kHz provides f…

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2024

An Investigation of Multi-feature Extraction and Super-resolution with Fast Microphone Arrays

Eric T. Chang, Runsheng Wang, Peter Ballentine, Jingxi Xu, Trey Smith, Brian Coltin +2

ICRA 2024poster

In this work, we use MEMS microphones as vibration sensors to simultaneously classify texture and estimate contact position and velocity. Vibration sensors are an important facet of both human and robotic tactile sensing, providing fast detection of contact and onset of slip. Microphones are an attr…

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