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

arXiv: https://arxiv.org/abs/2510.27048 · HTML: https://mlsanity.com/paper/2510.27048/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Oct 2025.

## Built on by (most cited first, 1 of 1)

- [Adaptive Policy Selection and Fine-Tuning under Interaction Budgets for Offline-to-Online Reinforcement Learning](https://mlsanity.com/paper/2605.05123/) (2026)

## Abstract (arXiv)

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: in-hand manipulation of fragile objects. Videos are available at https://roamlab.github.io/spikeatac/ .