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TouchSim is a simulation of the responses of every afferent innervating the glabrous skin of the hand. The model is described in detail in a paper entitled "[Simulating tactile signals from the whole hand with millisecond precision](" (Saal, Delhaye, Rayhaun, and Bensmaia, PNAS, 2017).

If you have any questions, please go visit the software forum here where they may have already been addressed. If not, you can post them there.

There are two versions of the software, one in Matlab, and one in Python, for your convenience.


This software provides a graphical user interface (GUI) to generate a model that computes the firing rate and area of afferent activation from a dynamic stimulus applied to a localized patch of skin. Parameters of the model can be used to create biomimetic stimulation protocols of the residual nerve for providing real-time tactile feedback.

The approach used in this software is described in detail in the following reference: Okorokova E.V., He Q., Bensmaia S.J. “Biomimetic encoding model for restoring touch in bionic hands through a nerve interface”. Journal of Neural Engineering

You can access TouchMime here.


NCams is a toolbox to use multiple cameras to track and reconstruct the kinematics of primate limbs. NCams leverages state-of-the-art machine learning approaches for image tracking DeepLabCut ( and musculoskeletal modeling [OpenSIM]( and includes integration and processing software specifically developed for primate limb tracking.

DeepLabCut OpenSIM

You can access NCams here.