Fig. 6: Demonstration of the working of decentralized memristive neuromorphic elements for robotics.

a Flowchart of the implemented logic. b, c Sensorimotor platform capable of detecting and associating noxious stimuli. Resistance changes to the pressure sensing element triggers generation of warning signals from satellite threshold adjusting receptors (STARs) above a pre-set pain threshold. This in turn changes the weight plasticity of associated satellite weight adjusting resistive memories (SWARMs) in the satellite learning module (SLM), triggering motor responses in the robotic arm. Upon training, an effective association is developed between the STARs and SWARMs enhancing the fault tolerance of this approach. d–e Functional recovery of the system upon mechanical damage. Upon damage, the STARs and SWARMs self-heals restoring the circuit functionality. Please refer to Supplementary Movies 1–3 for more details. An expanded version of this figure with more details is provided in Supplementary Note 6 and Supplementary Fig. 21.