[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-81556-en":3,"doc-seo-81556-105":28,"detail-sidebar-cat-0-en-105":89},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":4,"is_deleted":4,"is_public":20,"is_downloadable":20,"audit_status":20,"page_count":11,"language":21,"language_code":22,"site_id":23,"html_lang":22,"table_of_contents":24,"faqs":25,"seo_title":13,"seo_description":14,"update_tm":26,"read_time":27},81556,549758146520,"Patrick","https://ap-avatar.wpscdn.com/avatar/80002397d8c0411e94?_k=1775819394049821470",8,"Research & Report","SpikeATac A Multimodal Tactile Finger with Taxelized Dynamic Sensing for Dexterous Manipulation","SpikeATac introduces a multimodal tactile finger that merges taxelized, highly sensitive dynamic sensing using a PVDF (16-taxel film sampled at 4 kHz) with a static capacitive transduction method. The PVDF “spiky” response captures the precise onset and breaking of contact. Sensitivity across modalities is characterized to enable fast, delicate stopping when grasping fragile, deformable objects. Beyond parallel grasping, SpikeATac supports learning-based dexterous manipulation on a multifingered robot hand using imitation learning and reinforcement-learning fine-tuning via force modulation.","SpikeATac: A Multimodal Tactile Finger with Taxelized Dynamic Sensing for Dexterous Manipulation  \nEric T. Chang ∗1, Peter Ballentine ∗2, Zhanpeng He ∗3, Do-Gon Kim 1 , Kai Jiang3 , Hua-Hsuan Liang3 , Joaquin Palacios 1 , William Wang3 , Pedro Piacenza 1 , Ioannis Kymissis2 , Matei Ciocarlie 1  \narXiv :2510 .27048v3 [ cs .RO] 10 Jul 2026  \nFig. 1: Overview of SpikeATac. Left: completed finger and design. Right: integration on a parallel gripper and multifingered robot hand. Combining high-performance, taxelized PVDF for dynamic sensing with capacitive pads for static sensing, SpikeATac enables fast yet delicate manipulation. Used in conjunction with imitation learning and on-robot reinforcement learning fine-tuning, SpikeATac data can also enable multifingered dexterity such as in-hand reorientation even on fragile objects.  \nAbstract—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 fast, sensitive dynamic signals to the very onset and breaking of contact. We characterize the sensitivity of the different modalities, and show that SpikeATac provides the ability to stop quickly and delicately when grasping fragile, deformable objects. Beyond parallel grasping, we show that SpikeATac can be used in a learning-based framework to achieve new capabilities on a dexterous multifingered robot hand. We use reinforcement learning from human feedback to fine-tune the behavior of a policy to modulate force. Our hardware platform and learning pipeline together enable a difficult dexterous and contact-rich task that has not previously been achieved: inhand manipulation of fragile objects. Videos are available at [roamlab.github.io/spikeatac](roamlab.github.io/spikeatac).  \nI. INTRODUCTION  \nTactile sensing typically falls into two categories: static sensing, for measuring sustained or slowly varying pressure, often with high spatial resolution, and dynamic sensing, for detecting rapid changes in pressure with high temporal resolution. These modes mirror biological mechanoreceptors,  \n* indicates joint-first authorship. 1 Dept. of Mechanical Engineering 2 Dept. of Electrical Engineering 3 Dept. of Computer Science, Columbia University, New York, NY 10027, USA. This work was supported by a NASA Space Technology Graduate Research Opportunity and by a National Science Foundation Graduate Research Fellowship under Grant No. DGE-2036197 . Correspondence email: [eric.chang@columbia.edu](eric.chang@columbia.edu)  \nwith the human skin’s SA-I/II responding to sustained pressure and stretch and FA-I/II to dynamic changes.  \nThese types of sensing are highly complementary. While static sensors can tell us about contact forces, contact geometry, and surface features, dynamic tactile sensors can reveal the precise moment when contact is made or broken, capture slip events, and measure vibrations created from extrinsic contacts and surface textures [1, 2] . Both are an important part of rich, multimodal tactile sensation.  \nGiven the promise of dynamic sensing, the field has dedicated important resources to transduction methods that can convert this promise into advanced manipulation abilities. In particular, polyvinylidene fluoride (PVDF) has emerged as a particularly promising material for dynamic sensing. It is highly sensitive to dynamic events, offers high frequency bandwidth, is low cost, and can be manufactured in thin, flexible, and customizable form factors with custom taxel arrangements [3–6] . Furthermore, amplification circuits can even be fabricated directly on the PVDF film [6, 7], giving it a high ceiling for scaling to larger and integrated arrays. In principle, these properties make PVDF well suited for creating dense, flexible, dynamic arrays. However, PVDF has almost exclusively been implemen","cbCaivKb6gbbIxbQ","https://ap.wps.com/l/cbCaivKb6gbbIxbQ","pdf",4662800,1,"English","en",105,"# Introduction\n## Static vs. dynamic tactile sensing\n## Why PVDF and its limitations\n## SpikeATac hardware design\n## Demonstrated manipulation and learning contributions","[{\"question\":\"What sensing modalities does SpikeATac combine, and what do they measure?\",\"answer\":\"SpikeATac combines dynamic sensing using a taxelized PVDF film and static sensing using capacitive pads. The PVDF captures rapid events like contact onset and breaking, while the capacitive modality measures sustained pressure.\"},{\"question\":\"How is the PVDF dynamic sensing implemented in SpikeATac?\",\"answer\":\"SpikeATac uses a 16-taxel PVDF array sampled at 4 kHz to provide fast, sensitive dynamic signals. The system is designed to respond to the very onset and breaking of contact.\"},{\"question\":\"How does SpikeATac enable dexterous manipulation beyond grasping?\",\"answer\":\"SpikeATac’s sensor signals are integrated into learning pipelines, including imitation learning and reinforcement learning from human feedback. This fine-tunes a policy to modulate force for in-hand manipulation of fragile objects.\"}]",1784174306,20,{"code":4,"msg":29,"data":30},"ok",{"site_id":23,"language":22,"slug":31,"title":13,"keywords":32,"description":14,"schema_data":33,"social_meta":84,"head_meta":86,"extra_data":88,"updated_unix":26},"spikeatac-a-multimodal-tactile-finger-with-taxelized-dynamic-sensing-for-dexterous-manipulation","",{"@graph":34,"@context":83},[35,52,66],{"@type":36,"itemListElement":37},"BreadcrumbList",[38,42,46,49],{"item":39,"name":40,"@type":41,"position":20},"https://docshare.wps.com","Home","ListItem",{"item":43,"name":44,"@type":41,"position":45},"https://docshare.wps.com/document/","Document",2,{"item":47,"name":12,"@type":41,"position":48},"https://docshare.wps.com/document/research-report/",3,{"item":50,"name":13,"@type":41,"position":51},"https://docshare.wps.com/document/spikeatac-a-multimodal-tactile-finger-with-taxelized-dynamic-sensing-for-dexterous-manipulation/81556/",4,{"url":50,"name":13,"@type":53,"author":54,"headline":13,"publisher":56,"fileFormat":59,"inLanguage":22,"description":14,"dateModified":60,"datePublished":60,"encodingFormat":59,"isAccessibleForFree":61,"interactionStatistic":62},"DigitalDocument",{"name":9,"@type":55},"Person",{"url":39,"name":57,"@type":58},"DocShare","Organization","application/pdf","2026-07-16",true,{"@type":63,"interactionType":64,"userInteractionCount":4},"InteractionCounter",{"@type":65},"ViewAction",{"@type":67,"mainEntity":68},"FAQPage",[69,75,79],{"name":70,"@type":71,"acceptedAnswer":72},"What sensing modalities does SpikeATac combine, and what do they measure?","Question",{"text":73,"@type":74},"SpikeATac combines dynamic sensing using a taxelized PVDF film and static sensing using capacitive pads. The PVDF captures rapid events like contact onset and breaking, while the capacitive modality measures sustained pressure.","Answer",{"name":76,"@type":71,"acceptedAnswer":77},"How is the PVDF dynamic sensing implemented in SpikeATac?",{"text":78,"@type":74},"SpikeATac uses a 16-taxel PVDF array sampled at 4 kHz to provide fast, sensitive dynamic signals. The system is designed to respond to the very onset and breaking of contact.",{"name":80,"@type":71,"acceptedAnswer":81},"How does SpikeATac enable dexterous manipulation beyond grasping?",{"text":82,"@type":74},"SpikeATac’s sensor signals are integrated into learning pipelines, including imitation learning and reinforcement learning from human feedback. 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