ArticleSoft robotics2017
Tactile Sensing with Whiskers of Various Shapes: Determining the Three-Dimensional Location of Object Contact Based on Mechanical Signals at the Whisker Base.
Article in Soft robotics, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 15 papers.
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Who cites it
15 citing papers in PubMed, 54 citations in OpenAlex.
- On the intrinsic curvature of animal whiskers.PloS one · 2023Article
- Demonstration of three-dimensional contact point determination and contour reconstruction during active whisking behavior of an awake rat.PLoS computational biology · 2022Article
- Review of Recent Bio-Inspired Design and Manufacturing of Whisker Tactile Sensors.Sensors (Basel, Switzerland) · 2022Review
- Creating underwater vision through wavy whiskers: a review of the flow-sensing mechanisms and biomimetic potential of seal whiskers.Journal of the Royal Society, Interface · 2021Review
- Mechanosensory Hairs and Hair-like Structures in the Animal Kingdom: Specializations and Shared Functions Serve to Inspire Technology Applications.Sensors (Basel, Switzerland) · 2021Review
- Continuous, multidimensional coding of 3D complex tactile stimuli by primary sensory neurons of the vibrissal system.Proceedings of the National Academy of Sciences of the United States of America · 2021Article
- Texture Recognition Based on Perception Data from a Bionic Tactile Sensor.Sensors (Basel, Switzerland) · 2021Article
- Design of a Sensitive Balloon Sensor for Safe Human-Robot Interaction.Sensors (Basel, Switzerland) · 2021Article
- Improving the Detection of the Contact Point in Active Sensing Antennae by Processing Combined Static and Dynamic Information.Sensors (Basel, Switzerland) · 2021Article
- Effects of Multi-Point Contacts during Object Contour Scanning Using a Biologically-Inspired Tactile Sensor.Sensors (Basel, Switzerland) · 2020Article
- The Cellular and Mechanical Basis for Response Characteristics of Identified Primary Afferents in the Rat Vibrissal System.Current biology : CB · 2020Article
- Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing.Frontiers in robotics and AI · 2020Article
- Prediction of Choice from Competing Mechanosensory and Choice-Memory Cues during Active Tactile Decision Making.The Journal of neuroscience : the official journal of the Society for Neuroscience · 2019Article
- Biomechanics in Soft Mechanical Sensing: From Natural Case Studies to the Artificial World.Biomimetics (Basel, Switzerland) · 2018Review
- Design principles of hair-like structures as biological machines.Journal of the Royal Society, Interface · 2018Review
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Authors and funding
3 authors at 1 institution in 1 country.
Funding
Abstract
Almost all mammals use their mystacial vibrissae (whiskers) as important tactile sensors. There are no sensors along the length of a whisker: all sensing is performed by mechanoreceptors at the whisker base. To use artificial whiskers as a sensing tool in robotics, it is essential to be able to determine the three-dimensional (3D) location at which a whisker has made contact with an object. With the assumption of quasistatic, frictionless, single-point contact, previous work demonstrated that the 3D contact point can be uniquely determined if all six components of force and moment are measured at the whisker base, but these measurements require a six-axis load cell. Here, we perform simulations to investigate the extent to which each of the 20 possible "triplet" combinations of the six mechanical signals at the whisker base uniquely determine 3D contact point location. We perform this analysis for four different whisker profiles (shapes): tapered with and without intrinsic curvature, and cylindrical with and without intrinsic curvature. We show that whisker profile has a strong influence on the particular triplet(s) of signals that uniquely map to the 3D contact point. The triplet of bending moment, bending moment direction, and axial force produces unique mappings for tapered whiskers. Four different mappings are unique for a cylindrical whisker without intrinsic curvature, but only when large deflections are excluded. These results inform the neuroscience of vibrissotactile sensing and represent an important step toward the development of artificial whiskers for robotic applications.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.