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Humans display a range of remarkable haptic skills, enabled by the synergistic interactions of the somatosensory system with higher\u2010level cognitive processes. In contrast, robotics\u2019 haptic sensing solutions have historically lacked the ability to achieve human\u2010level perceptive capabilities, lacking in both the sensory system and its cognitive digital counterpart. Herein, part of this challenge is addressed by leveraging the success of the fields of soft robotics and deep learning to show how a soft robotic hand, equipped with low\u2010resolution tactile sensing, can be used to accurately identify a diverse set of objects. In particular, ROSE\u2010Net, a neural network that leverages multiple grasps to enable accurate pose\u2010invariant object recognition, is developed. The multi\u2010grasp haptic discrimination solution can lead to a significant increase in performance. The versatility and adaptability of this approach are also tested in two scenarios: a learning transfer scenario and a fault tolerance scenario. Finally, the framework is tested in an online discrimination task, where this approach is shown to naturally require additional grasps for objects that are more challenging to identify using a single grasp and low spatial resolution tactile sensing.<\/jats:p>","DOI":"10.1002\/aisy.202400802","type":"journal-article","created":{"date-parts":[[2025,1,28]],"date-time":"2025-01-28T04:24:15Z","timestamp":1738038255000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Bioinspired Tactile Object Identification Leveraging Deep Learning and Soft Body Compliance"],"prefix":"10.1002","volume":"7","author":[{"given":"Oliver","family":"Shorthose","sequence":"first","affiliation":[{"name":"Oxford Robotics Institute University of Oxford  Oxford UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Luca","family":"Scimeca","sequence":"additional","affiliation":[{"name":"Mila \u2010 Quebec AI Institute  Montreal QC Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1562-7044","authenticated-orcid":false,"given":"Alessandro","family":"Albini","sequence":"additional","affiliation":[{"name":"Oxford Robotics Institute University of Oxford  Oxford UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Perla","family":"Maiolino","sequence":"additional","affiliation":[{"name":"Oxford Robotics Institute University of Oxford  Oxford UK"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2025,1,28]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.4512-07.2008"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/0010-0285(87)90008-9"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.1038\/nrn2621"},{"key":"e_1_2_9_5_1","first-page":"3","volume":"3","author":"Vallbo A. 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