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Mechanics and Morphological Compensation Strategy for Trimmed Soft Whisker Sensor
1School of Materials Science, Japan Advanced Institute of Science and Technology (JAIST), Nomi, Japan.
Soft Robotics
|January 19, 2021
Summary
This study introduces a novel artificial soft whisker sensor for robots that can adapt and compensate for damage. This innovative tactile sensing system enhances robot sensory abilities by actively adjusting its shape to maintain performance after breakage.
Area of Science:
- Robotics and Mechanical Engineering
- Materials Science and Engineering
- Biomimetics and Bio-inspired Design
Background:
- Autonomous robots require advanced sensory systems to navigate and interact with complex environments.
- Natural whiskers inspire tactile sensing systems, offering high sensitivity and adaptability.
- Existing artificial whisker sensors face challenges with durability and maintaining performance after damage.
Purpose of the Study:
- To propose and validate a novel artificial soft whisker sensor with adaptive morphological compensation capabilities.
- To develop an analytical model for regulating whisker sensitivity through morphological adjustments.
- To demonstrate the sensor's ability to compensate for trimming or breakage, enhancing robotic tactile sensing.
Main Methods:
- Designed a flexible artificial whisker using a silicon-rubber truncated cone with an adjustable air chamber for rigidity control.
- Integrated a strain gauge to measure deformation and developed a system to actively adjust chamber morphology via air pressure.
- Utilized an analytical model to predict and regulate whisker sensitivity, validated through experiments in various compensation scenarios.
Main Results:
- Experimental results demonstrated good agreement with the analytical model in both normal and compensation modes.
- The artificial whisker successfully compensated for simulated damage, regaining sensitivity close to its original form.
- Adaptive functionality was validated in scenarios involving whisker length compensation, with an average compensation error of 20.385%.
Conclusions:
- The developed artificial soft whisker sensor exhibits effective morphological compensation for damage, inspired by natural systems.
- The analytical model accurately predicts and guides the compensation process, showcasing morphological computation in soft robotics.
- This research paves the way for more robust and active tactile sensing systems in autonomous robots capable of overcoming critical failures.
