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In this work, we propose a sensorized soft robotic finger with embedded marker pattern that integrates a high-speed neuromorphic event-based camera to enable finger proprioception and exteroception. A learning-based approach involving a convolutional neural network is developed to process event-based heat maps and achieve specific sensing tasks. The feasibility of the sensing approach for proprioception is demonstrated by showing its ability to predict the two-dimensional deformation of three points located on the finger structure, whereas the exteroception capability is assessed in a slip detection task that can classify slip heat maps at a temporal resolution of 2\u2009ms. Our results show that our proposed approach can enable complete sensorization of the finger for both proprioception and exteroception using a single camera without negatively affecting the finger compliance. Using such sensorized finger in robotic grippers may provide safe, adaptive, and precise grasping for handling a wide category of objects.<\/jats:p>","DOI":"10.1089\/soro.2022.0030","type":"journal-article","created":{"date-parts":[[2022,10,17]],"date-time":"2022-10-17T14:50:06Z","timestamp":1666018206000},"page":"467-481","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":42,"title":["Proprioception and Exteroception of a Soft Robotic Finger Using Neuromorphic Vision-Based Sensing"],"prefix":"10.1177","volume":"10","author":[{"given":"Omar","family":"Faris","sequence":"first","affiliation":[{"name":"Mechanical Engineering Department, Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Rajkumar","family":"Muthusamy","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1833-9809","authenticated-orcid":false,"given":"Federico","family":"Renda","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates."},{"name":"Mechanical Engineering Department, Khalifa University, Abu Dhabi, United Arab Emirates."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Irfan","family":"Hussain","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates."},{"name":"Mechanical Engineering Department, Khalifa University, Abu Dhabi, United Arab Emirates."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dongming","family":"Gan","sequence":"additional","affiliation":[{"name":"School of Engineering Technology, Purdue University, West Lafayette, Indiana, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lakmal","family":"Seneviratne","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates."},{"name":"Mechanical Engineering Department, Khalifa University, Abu Dhabi, United Arab Emirates."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yahya","family":"Zweiri","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates."},{"name":"Aerospace Engineering Department, Khalifa University, Abu Dhabi, United Arab Emirates."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2022,10,14]]},"reference":[{"key":"e_1_3_3_2_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2016.00069"},{"key":"e_1_3_3_3_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201707035"},{"key":"e_1_3_3_4_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_3_3_5_2","doi-asserted-by":"publisher","DOI":"10.1080\/11762320802557865"},{"key":"e_1_3_3_6_2","doi-asserted-by":"publisher","DOI":"10.1002\/advs.201800541"},{"key":"e_1_3_3_7_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aav1488"},{"key":"e_1_3_3_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2976320"},{"key":"e_1_3_3_9_2","first-page":"2448","volume-title":"Integration of proprioceptive and exteroceptive sensors","author":"Soter G","unstructured":"Soter G, , Conn A, , Hauser H, et al. 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