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Capacitive Bio-Inspired Flow Sensing Cupula.

James P Wissman1, Kaushik Sampath2, Simon E Freeman3

  • 1U.S. Naval Research Laboratory, Code 7165, Washington, DC 20375, USA. james.wissman.ctr@nrl.navy.mil.

Sensors (Basel, Switzerland)
|June 20, 2019
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Summary
This summary is machine-generated.

Researchers developed a novel, soft-bodied flow sensor inspired by fish neuromasts. This compliant capacitive cupula, using liquid metal, enhances submersible robot navigation in complex underwater environments.

Keywords:
capacitive sensingcupulaflow sensingliquid metalstretchable electronics

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Area of Science:

  • Biomimetics and Soft Robotics
  • Fluid Dynamics and Sensor Technology

Background:

  • Submersible robotics benefit from bio-inspired designs, such as thunniform kinematics and shark skin textures.
  • Effective navigation in complex flows requires advanced sensor systems, with fish lateral line systems offering a biological model.
  • Existing sensors often lack the compliance needed for truly soft-bodied robots.

Purpose of the Study:

  • To develop a fully compliant, artificial flow sensor inspired by fish superficial neuromasts.
  • To integrate this sensor into soft-bodied robots for enhanced object detection and navigation.
  • To create a sensor that does not compromise the robot's flexibility.

Main Methods:

  • Fabrication of a capacitive cupula using lost wax methods and vacuum injection.
  • Embedding room temperature liquid metal plates within a soft silicone body.
  • Development of a kinematic theory and energy-based approach for capacitance-flow approximation.
  • Experimental verification and COMSOL simulations.

Main Results:

  • A 5 mm tall capacitive cupula sensor was successfully fabricated.
  • The sensor achieved a sensitivity of 0.5 pF/mm (capacitance vs. tip deflection).
  • Transducers were integrated directly into the cupula, differing from previous designs.
  • Theoretical models were validated by experimental and simulation data.

Conclusions:

  • The novel capacitive cupula provides a compliant flow sensing solution for soft-bodied robotics.
  • This bio-inspired sensor can significantly improve submersible robot navigation capabilities.
  • The integrated transducer design offers a new approach for soft sensor development.