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Support Documents

Support documentation for sensors, system integration, and software.

BioTac Toccare™

BioTac Toccare™ Brochure


BioTac Brochure
BioTac Product Manual

BioTac SP Brochure
BioTac SP Product Manual

NumaTac Product Manual


Software Page



S. L. Murawski (P&G), J. Matsumoto (P&G), D. Gallagher (P&G), S. McConaughy (P&G), J. Fishel (SynTouch), P. Botticelli (SynTouch), Application of a Novel, Biomimetic Tactile Evaluation System to quantify/qualify desired product feel, American Academy of Dermatology 2018.
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Su Z., Kroemer O., Loeb G. E. , Sukhatme G. S., Schaal S., Learning to Switch Between Sensorimotor Primitives Using Multimodal Haptic Signals, From Animals to Animats 14 Volume 9825 of the series Lecture Notes in Computer Science pp 170-182.
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Su, Z., Hausman, K., Chebotar, Y., Molchanov, A., Loeb, G. E., Sukhatme, G. S., Schaal, S., Force estimation and slip detection/classification for grip control using a biomimetic tactile sensor., IEEE-RAS 15th International Conference on Humanoid Robots, 297-303, 2015.
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Loeb, G.E., Fishel, J.A., Bayesian Action&Perception, Frontiers in Neuroscience, 8:341, 2014. Article Link

Matulevich, B., Pandit, V., Lin, C.H., Loeb, G.E., Fishel, J.A., Low-cost compliant contact sensor for fragile grasping with reduced cognitive load, Myoelectric Controls Symposium, 2014.
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Wettels, N., Fishel, J.A., Loeb, G.E., Multimodal Tactile Sensor, The Human Hand as an Inspiration for Robot Hand Development. Springer Tracts in Advanced Robotics (STAR) series, Balasubramanian, R. and Santos, V.J., Eds., Springer, Heidelberg., 2014.
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Arian, M.S., Blaine, C.A., Loeb, G.E., Fishel, J.A., Using the BioTac as a tumor localization tool, IEEE Intl. Conf. on Haptic Interfaces for Virtual Environment and Teleoperator Systems (Haptics), 443-448, 2014.
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Jiminez, M.C., Fishel, J.A., Evaluation of force, vibration and thermal tactile feedback in prosthetic limbs, IEEE Intl. Conf. on Haptic Interfaces for Virtual Environment and Teleoperator Systems (Haptics), 437-441, 2014.
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Lin, C.H., Fishel, J.A., Loeb, G.E., Estimating point of contact, force and torque in a biomimetic tactile sensor with deformable skin, SynTouch LLC, 2013.
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Matulevich, B., Loeb, G.E., Fishel, J.A., Utility of contact detection and compliant fingertips in prosthetic hand control, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4741-4746, 2013.
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Xu, D., Loeb, G.E., Fishel, J.A., Tactile identification of objects using bayesian exploration, IEEE International Conference on Robotics and Automation (ICRA), 3056-3061, 2013.
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Yamamoto, T., Wettels, N., Fishel, J.A.,Lin, C.H., Loeb, G.E., BioTac – 生体模倣型触覚センサ, Journal of the Robotics Society of Japan, 30(5) 496-498, 2012.
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Fishel, J.A., Design and use of a biomimetic tactile microvibration sensor with human-like sensitivity and its application in texture discrimination using Bayesian exploration, University of Southern California, Doctoral Thesis, 2012.
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Su, Z., Fishel, J.A., Yamamoto, T., Loeb, G.E., Use of tactile feedback to control exploratory movements to characterize object compliance, Frontiers in Neurorobotics, 6:7, 2012.
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Fishel, J.A., Loeb, G.E, Bayesian exploration for intelligent identification of textures, Frontiers in Neurorobotics, 6:4, 2012. Article Link

Fishel, J.A., Loeb, G.E., Sensing tactile microvibrations with the BioTac – comparison with human sensitivity, IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 1122-1127, 2012.
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Wettels, N. and Loeb, G.E., Haptic feature extraction from a biomimetic tactile sensor: force, contact location and curvature, IEEE International Conference on Robotics and Biomimetics (ROBIO), 2471-2478, 2011.
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Loeb, G.E., Tsianos, G.A., Fishel, J.A., Wettels, N. Schaal, S., Understanding haptics by evolving mechatronic systems, Progress in Brain Research, Vol. 192, Ch 9: 129-144, 2011.
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N. Wettels, J.A. Fishel, Z. Su, C.H. Lin, and G.E. Loeb., Multi-modal synergistic tactile sensing, 9th IEEE-RAS International Conference on Humanoid Robots, 2009.
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Lin, C.H., Erickson, T.W., Fishel, J.A., Wettels, N., and Loeb, G.E., Signal processing and fabrication of a biomimetic tactile sensor array with thermal, force and microvibration modalities, IEEE International Conference on Robotics and Biomimetics (ROBIO), 129-134, 2009.
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Wettels, N., Parnandi, A.R., Moon, J.-H., Loeb, G.E. and Sukhatme, G.S., Grip control using biomimetic tactile sensing systems, IEEE/ASME Trans. Mechatronics, 14(6):718-723, 2009.
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Loeb, G.E., Taking control of prosthetic arms, Journal of the American Medical Association, 301(6):670-671, 2009.
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Loeb, G.E. and Fishel, J.A., The role of fingerprints in vibrotactile discrimination, Whitepaper for DoD Physics of Biology, 1-3, 2009.
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Wettels, N., Smith, L.M., Santos, V.J. and Loeb, G.E., Deformable skin design to enhance response of a biomimetic tactile sensor, IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 132-137, 2008.
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Fishel, J.A., Santos, V.J. and Loeb, G.E., A robust micro-vibration sensor for biomimetic fingertips, IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 659-663, 2008.
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Wettels, N., Santos, V.J., Johansson, R.S. and Loeb, G.E., Biomimetic tactile sensor array, Advanced Robotics, 22(8):829-849, 2008.
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Customer Publications

Haptic Zero-Shot Learning: Recognition of objects never touched before

Direction of Slip Detection for Adaptive Grasp Force Control with aDexterous Robotic Hand

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