Contains reading of single braille letters by sliding a robotic tactile sensor over each letter of the braille alphabet, including space. Braille letters are part of the dataset in the STL file format. Tactile data is pulled with 40Hz and saved in the pandas format and dumped in the pickle format. Sigma-delta modulation was used to create event-driven (spike-based) binary discrete-time data streams with four different encoding threshold. For more details please see the linked Github repository.