WhiskSight: A Reconfigurable, Vision-Based, Optical Whisker Sensing Array for Simultaneous Contact, Airflow, and Inertia Stimulus Detection

被引：8

作者：

Kent, Teresa A. ^{[1
]}

Kim, Suhan ^{[2
]}

Kornilowicz, Gabriel ^{[2
]}

Yuan, Wenzhen ^{[1
]}

Hartmann, Mitra J. Z. ^{[3
]}

Bergbreiter, Sarah ^{[2
]}

机构：

[1] Carnegie Mellon Univ, Robot Inst, Pittsburgh, PA 15213 USA

[2] Carnegie Mellon Univ, Mech Engn Dept, Pittsburgh, PA 15217 USA

[3] Northwestern Univ, Biomed Engn & Mech Engn Dept, Evanston, IL 60208 USA

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2021年 / 6卷 / 02期

关键词：

Biologically-inspired robots; force and tactile sensing; soft sensors and actuators; RAT;

D O I：

10.1109/LRA.2021.3062816

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The development of whisker-based sensing systems faces at least two important technical challenges: scaling up the number of whiskers to large arrays while retaining a simple interface; and detecting the wide variety of stimuli that biological whiskers can sense, including both direct touch (contact) and airflow. Here we present the design for a whisker array that leverages a camera to measure whisker rotations without a complex interface. Whiskers are magnetically attached to an elastomer "skin," ensuring that the system is both scalable and reconfigurable. Direct contact ismeasured fromthe relative motion between each whisker and the skin, while airflow and inertia can be inferred from the signal experienced by allwhiskers in the array. Individualwhiskers can resolve the direction of contact transverse to the whiskerwithin 6.2 degrees and whisker rotation magnitude to within 0.5 degrees, An algorithm is developed to distinguish inertial forces from airflow and contact.

引用

页码：3357 / 3364

页数：8