A Hardware Based Implementation of a Tactile Sensory System For Neuromorphic Signal Processing Applications

The implementation of a tactile sensory system for neuromorphic signal processing applications is presented. It has been developed by modelling the structure and behaviour of real rodent facial vibrissae. The primary afferents have been modelled using empirical data taken from electrophysiological measurements, and implemented in real time using hardware processors (DSP/FPGA). Pipelining techniques were employed to maximise the utility of the FPGA hardware. The system is to be integrated into a more complete whisker sensory model, including neural structures within the central nervous system, which can be used to orientate a mobile robot.