A Simplified Model for Simulating Population Responses of Tactile Afferents and Receptors in the Skin

Tactile information about an object can only be extracted from population responses of tactile receptors and their afferents. Thus, to best control tactile information in robots, neuroprostheses or haptic devices, inputs should represent responses from full populations of afferents. Here, we describe a simplified model that recreates afferent population responses of thousands of tactile afferents in a personal computer. The whole model includes a resistance network model to simplify the skin mechanics and an improved version of a single unit model that we have previously described. The whole model was implemented by short and efficient python code. The parameters of the model were fit based on a simple vibrating stimulus, but the simulated outputs generalize to match receptive field sizes, edge enhancement, and neurophysiological responses to dot textures, embossed letters and curved surfaces. We discuss how to use this work to model haptic perception and provide guidance in designing and controlling highly realistic tactile interfaces in robots, neural prostheses and haptic devices.