ArticleSoft robotics2022
Mechanics and Morphological Compensation Strategy for Trimmed Soft Whisker Sensor.
Article in Soft robotics, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed, 14 citations in OpenAlex.
- A robust and omnidirectional-sensitive electronic antenna for tactile-induced perception.Nature communications · 2025Article
- Versatile graceful degradation framework for bio-inspired proprioception with redundant soft sensors.Frontiers in robotics and AI · 2024Article
- Soft Robotics: A Systematic Review and Bibliometric Analysis.Micromachines · 2023Review
- Improving the Detection of the Contact Point in Active Sensing Antennae by Processing Combined Static and Dynamic Information.Sensors (Basel, Switzerland) · 2021Article
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Authors and funding
2 authors at 1 institution in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Recent studies have been inspired by natural whiskers for a proposal of tactile sensing system to augment the sensory ability of autonomous robots. In this study, we propose a novel artificial soft whisker sensor that is not only flexible but also adapts and compensates for being trimmed or broken during operation. In this morphological compensation designed from an analytical model of the whisker, our sensing device actively adjusts its morphology to regain sensitivity close to that of its original form (before being broken). To serve this purpose, the body of the whisker comprises a silicon-rubber truncated cone with an air chamber inside as the medulla layer, which is inflated to achieve rigidity. A small strain gauge is attached to the outer wall of the chamber for recording strain variation upon contact of the whisker. The chamber wall is reinforced by two inextensible nylon fibers wound around it to ensure that morphology change occurs only in the measuring direction of the strain gauge by compressing or releasing pressurized air contained in the chamber. We investigated an analytical model for the regulation of whisker sensitivity by changing the chamber morphology. Experimental results showed good agreement with the numerical results of performance by an intact whisker in normal mode, as well as in compensation mode. Finally, adaptive functionality was tested in two separate scenarios for thorough evaluation: (1) A short whisker (65 mm) compensating for a longer one (70 mm), combined with a special case (self-compensation), and (2)
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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.